{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 149,
   "id": "99bbaa7d",
   "metadata": {},
   "outputs": [],
   "source": [
    "import numpy as np\n",
    "import math\n",
    "import matplotlib.pyplot as plt\n",
    "from sympy import symbols, cos, sin\n",
    "from sympy.plotting import plot_parametric\n",
    "from math import sin,cos\n",
    "import random\n",
    "import scipy.stats as stats"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "192de58f",
   "metadata": {},
   "source": [
    "# Лабораторная работа 1 , задание 2(b) ,Particle Filter\n",
    "Реализация фильтра частиц для отслеживания координати ориентации в соответствии с odometry motion model"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "05eb546d",
   "metadata": {},
   "source": [
    "# Фильтр частиц\n",
    "$$ E[f(x)] = \\int f(x)  \\frac{\\pi(x)}{\\int \\pi(u) du} dx = \\int \\frac{f(x)\\pi(x) dx}{\\int \\pi(u) du} = \n",
    "\\int \\frac{f(x) \\frac{\\pi(x)}{q(x)} q(x) dx} {\\int \\frac{\\pi(u)}{q(u)} du}$$\n",
    "$$ \\pi(x)  = p(x_t|y_1,...y_t)$$\n",
    "$$ w(x_t) = p(y_t|x_t)$$\n",
    "$$ q(x_t) = p(x_t|y_1...y_{t-1}) $$\n",
    "$$ \\pi(x_t) = w(x_t) \\cdot q(x_t)$$"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "512136d5",
   "metadata": {},
   "source": [
    "Считывание показаний сенсоров и одометрии"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 76,
   "id": "62668378",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
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      "['SENSOR', '7', '2.59840861212', '0.0698763171769']\n",
      "['ODOMETRY', '0.000166426733439', '0.100022177361', '0.000496357405707']\n",
      "['SENSOR', '8', '0.29236369946', '0.137333892567']\n",
      "['SENSOR', '1', '3.56145390971', '1.980721848']\n",
      "['SENSOR', '4', '3.88388761474', '-1.82703179252']\n",
      "['SENSOR', '7', '2.47702971088', '0.129590298903']\n",
      "['ODOMETRY', '0.000200725157797', '0.100078981451', '-0.000151872288925']\n",
      "['SENSOR', '8', '0.365729111397', '0.349748787472']\n",
      "['SENSOR', '1', '3.47041530697', '2.00066575632']\n",
      "['SENSOR', '4', '4.14389122248', '-1.78316157679']\n",
      "['SENSOR', '7', '2.40075146509', '0.0146665231675']\n",
      "['ODOMETRY', '-0.000579333651918', '0.0999553366096', '-0.000117283755679']\n",
      "['SENSOR', '8', '0.0502863657936', '0.410526774662']\n",
      "['SENSOR', '1', '3.69067789238', '2.17805074444']\n",
      "['SENSOR', '4', '4.09027678434', '-1.83041726386']\n",
      "['SENSOR', '7', '1.98014597944', '0.0576865719976']\n",
      "['ODOMETRY', '0.0003785086232', '0.0998552643556', '8.0753994939e-05']\n",
      "['SENSOR', '8', '0.168342598614', '0.997314312587']\n",
      "['SENSOR', '1', '3.65030002905', '2.04433177986']\n",
      "['SENSOR', '4', '4.16845827588', '-1.89464589741']\n",
      "['SENSOR', '7', '2.02099297852', '0.0343928604331']\n",
      "['ODOMETRY', '0.000631351437857', '0.0998678082397', '-0.00108162501603']\n",
      "['SENSOR', '8', '0.228046714232', '2.16782157887']\n",
      "['SENSOR', '1', '3.83771899035', '2.13991521202']\n",
      "['SENSOR', '4', '3.91035210899', '-1.78508814013']\n",
      "['SENSOR', '7', '2.09404921795', '0.073225887195']\n",
      "['ODOMETRY', '-0.000193688869607', '0.0999886926612', '-1.98918895355e-05']\n",
      "['SENSOR', '8', '0.075021317958', '2.66991541795']\n",
      "['SENSOR', '1', '3.94401764174', '2.30453132583']\n",
      "['SENSOR', '3', '5.04767387692', '0.693054605253']\n",
      "['SENSOR', '4', '4.04181014378', '-1.86436690644']\n",
      "['SENSOR', '7', '1.9697847454', '0.0510655998543']\n",
      "['ODOMETRY', '7.47546602372e-06', '0.0999796433801', '-0.000779277957618']\n",
      "['SENSOR', '8', '0.208235129731', '2.86726458023']\n",
      "['SENSOR', '1', '3.54294808766', '2.09165642135']\n",
      "['SENSOR', '3', '4.73828954496', '0.641679611239']\n",
      "['SENSOR', '4', '4.17698527247', '-1.82214858142']\n",
      "['SENSOR', '7', '1.71132485001', '0.0983006447776']\n",
      "['ODOMETRY', '0.000689383008851', '0.0999423918626', '3.49513447236e-05']\n",
      "['SENSOR', '8', '0.484016165701', '2.9408108201']\n",
      "['SENSOR', '1', '3.98604758273', '2.20091963284']\n",
      "['SENSOR', '3', '4.69180703169', '0.703296950333']\n",
      "['SENSOR', '4', '4.03432426588', '-1.9192180266']\n",
      "['SENSOR', '7', '1.70662307955', '0.0195730144804']\n",
      "['ODOMETRY', '0.000371189846191', '0.100228636952', '-6.17591100635e-05']\n",
      "['SENSOR', '8', '0.373342787461', '3.05756133486']\n",
      "['SENSOR', '1', '3.80212871234', '2.24503327543']\n",
      "['SENSOR', '3', '4.73172458484', '0.67665686452']\n",
      "['SENSOR', '4', '4.1194352688', '-1.87726272441']\n",
      "['SENSOR', '7', '1.48281402876', '0.0712741173797']\n",
      "['ODOMETRY', '0.000618245466302', '0.100151291839', '-0.000273490204962']\n",
      "['SENSOR', '8', '0.338081528614', '3.00941243853']\n",
      "['SENSOR', '1', '3.86632963985', '2.33119255759']\n",
      "['SENSOR', '3', '4.76975391251', '0.681775935734']\n",
      "['SENSOR', '4', '4.41680657696', '-1.93881980098']\n",
      "['SENSOR', '7', '1.40686137282', '0.062021088176']\n",
      "['ODOMETRY', '0.000733914848916', '0.0998145788248', '0.000333638766583']\n",
      "['SENSOR', '8', '0.519130019884', '3.01398633257']\n",
      "['SENSOR', '1', '4.092604199', '2.27097935826']\n",
      "['SENSOR', '3', '4.66146335586', '0.71875130474']\n",
      "['SENSOR', '4', '4.27909552357', '-2.04618136993']\n",
      "['SENSOR', '7', '1.3644951038', '0.0459100663336']\n",
      "['ODOMETRY', '0.000374769638158', '0.100036391275', '-0.000317588610378']\n",
      "['SENSOR', '8', '0.827056766872', '3.03411383029']\n",
      "['SENSOR', '1', '4.18766617032', '2.23580707826']\n",
      "['SENSOR', '3', '4.61732503972', '0.766211483505']\n",
      "['SENSOR', '4', '4.43223800648', '-2.07050951908']\n",
      "['SENSOR', '7', '1.03765736173', '0.159708017897']\n",
      "['ODOMETRY', '0.000258383796783', '0.100046475173', '-0.000187448045561']\n",
      "['SENSOR', '8', '1.01841466548', '3.11245128248']\n",
      "['SENSOR', '1', '4.21844819546', '2.30727717394']\n",
      "['SENSOR', '3', '4.3323136637', '0.706356613225']\n",
      "['SENSOR', '4', '4.29925826917', '-2.0601421367']\n",
      "['SENSOR', '7', '1.03803647927', '-0.00430512051299']\n",
      "['ODOMETRY', '0.000175057256198', '0.100016206243', '-0.000574875437212']\n",
      "['SENSOR', '8', '1.06114766024', '3.03958700547']\n",
      "['SENSOR', '1', '4.19308291462', '2.37305169986']\n",
      "['SENSOR', '3', '4.43340843678', '0.694611397644']\n",
      "['SENSOR', '4', '4.38782200387', '-2.07646825755']\n",
      "['SENSOR', '7', '1.06893881671', '0.116816994177']\n",
      "['ODOMETRY', '0.000491173744155', '0.10008587263', '0.000451347893861']\n",
      "['SENSOR', '1', '4.3465399853', '2.28806126288']\n",
      "['SENSOR', '3', '4.09833809874', '0.726784901555']\n",
      "['SENSOR', '4', '4.40765307229', '-2.05703339848']\n",
      "['SENSOR', '7', '0.881587336964', '0.117015013311']\n",
      "['SENSOR', '8', '0.867257838608', '3.05280488795']\n",
      "['SENSOR', '9', '4.94840900988', '0.00494688573455']\n",
      "['ODOMETRY', '-0.000630803375501', '0.0998285005059', '-2.7665388273e-05']\n",
      "['SENSOR', '1', '4.28954934192', '2.33401947973']\n",
      "['SENSOR', '3', '4.21909781406', '0.841868593915']\n",
      "['SENSOR', '4', '4.34989823139', '-2.1630714784']\n",
      "['SENSOR', '5', '4.93979661166', '-1.43241329084']\n",
      "['SENSOR', '7', '1.00602499222', '-0.040670077456']\n",
      "['SENSOR', '8', '1.18675294958', '3.004888246']\n",
      "['SENSOR', '9', '4.77149906495', '0.0784167803443']\n",
      "['ODOMETRY', '0.000177588275668', '0.100041526731', '2.03395494299e-05']\n",
      "['SENSOR', '1', '4.50190602028', '2.36927895117']\n",
      "['SENSOR', '3', '4.00101151167', '0.822133488219']\n",
      "['SENSOR', '4', '4.61215771686', '-2.12862160394']\n",
      "['SENSOR', '5', '4.84715248381', '-1.4593957133']\n",
      "['SENSOR', '7', '0.709436083234', '0.117971189266']\n",
      "['SENSOR', '8', '1.19024309106', '3.05045863386']\n",
      "['SENSOR', '9', '4.81849247234', '0.0840660435082']\n",
      "['ODOMETRY', '-0.00019234723744', '0.0999661969223', '0.000577955783123']\n",
      "['SENSOR', '1', '4.59154612566', '2.44123409548']\n",
      "['SENSOR', '3', '4.09270372353', '0.984449055743']\n",
      "['SENSOR', '4', '4.56940774115', '-2.11108309143']\n",
      "['SENSOR', '5', '5.01708970382', '-1.51328639505']\n",
      "['SENSOR', '7', '0.552235897588', '0.0784446480335']\n",
      "['SENSOR', '8', '1.49530808357', '3.0624113724']\n",
      "['SENSOR', '9', '4.63213726628', '-0.0149057156019']\n",
      "['ODOMETRY', '0.000460432625711', '0.0999157148755', '-0.000910662300223']\n",
      "['SENSOR', '1', '4.48577419944', '2.40999777344']\n",
      "['SENSOR', '3', '3.96324395546', '0.842587357236']\n",
      "['SENSOR', '4', '4.84921297455', '-2.03032326714']\n",
      "['SENSOR', '5', '4.88860777235', '-1.50097582453']\n",
      "['SENSOR', '7', '0.588213080216', '0.109167111711']\n",
      "['SENSOR', '8', '1.5290828434', '2.9941760243']\n",
      "['SENSOR', '9', '4.64413302069', '0.012212596853']\n",
      "['ODOMETRY', '-0.000632043960132', '0.100015301076', '-0.000511368804941']\n",
      "['SENSOR', '1', '4.65821689345', '2.45792546861']\n",
      "['SENSOR', '3', '4.08457768068', '0.947534767445']\n",
      "['SENSOR', '4', '4.68074341243', '-2.0547331182']\n",
      "['SENSOR', '5', '5.03725288619', '-1.5159326314']\n",
      "['SENSOR', '7', '0.491288665507', '0.21797802742']\n",
      "['SENSOR', '8', '1.49582908804', '3.09625513813']\n",
      "['SENSOR', '9', '4.33921881025', '-0.00590236119985']\n",
      "['ODOMETRY', '-0.00030216604025', '0.0998494710161', '-0.000788688367358']\n",
      "['SENSOR', '1', '4.82461449155', '2.39935149529']\n",
      "['SENSOR', '3', '3.59588226911', '0.936386929512']\n",
      "['SENSOR', '4', '4.72357023165', '-2.19690127747']\n",
      "['SENSOR', '5', '4.98819755727', '-1.41111155842']\n",
      "['SENSOR', '7', '0.25233213443', '0.25429317372']\n",
      "['SENSOR', '8', '1.84161583689', '3.0711942204']\n",
      "['SENSOR', '9', '4.41280424602', '0.04021455269']\n",
      "['ODOMETRY', '-4.40372241114e-05', '0.100017342864', '-0.000286686615297']\n",
      "['SENSOR', '1', '4.96806499108', '2.46338913003']\n",
      "['SENSOR', '3', '3.77131398662', '1.02060797171']\n",
      "['SENSOR', '4', '4.97631293103', '-2.18306190358']\n",
      "['SENSOR', '5', '5.14857691815', '-1.51205005817']\n",
      "['SENSOR', '7', '0.153079788205', '0.302027094071']\n",
      "['SENSOR', '8', '1.78245016777', '3.13258766533']\n",
      "['SENSOR', '9', '4.2464309394', '-0.0529402471568']\n",
      "['ODOMETRY', '6.09844486367e-05', '0.099932109886', '-0.000288637789677']\n",
      "['SENSOR', '1', '4.89338384844', '2.45642677822']\n",
      "['SENSOR', '3', '3.8913033322', '1.00389625496']\n",
      "['SENSOR', '4', '4.69061171536', '-2.1926166367']\n",
      "['SENSOR', '5', '5.09158734052', '-1.68617809973']\n",
      "['SENSOR', '7', '0.148370172637', '0.491018538937']\n",
      "['SENSOR', '8', '1.79402872866', '3.05372037318']\n",
      "['SENSOR', '9', '4.11470896003', '0.0504472179281']\n",
      "['ODOMETRY', '0.000717467411298', '0.0999184617753', '0.000633850966142']\n",
      "['SENSOR', '3', '3.66655129086', '0.99534175243']\n",
      "['SENSOR', '4', '4.88757825221', '-2.21111435067']\n",
      "['SENSOR', '5', '5.01714051312', '-1.58666564734']\n",
      "['SENSOR', '6', '4.93994690121', '-0.918673994978']\n",
      "['SENSOR', '7', '0.162381760064', '1.08374304001']\n",
      "['SENSOR', '8', '1.94376056708', '3.03250925967']\n",
      "['SENSOR', '9', '4.08318042178', '-0.0114319793392']\n"
     ]
    }
   ],
   "source": [
    "f = open('/data files/sensor_data_pf.dat')\n",
    "for line in f:\n",
    "    q = line.split()\n",
    "    print(q)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "e604a3fb",
   "metadata": {},
   "source": [
    "Считывание координат датчиков"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 78,
   "id": "37d2eaf2",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[[1, 2, 1], [2, 0, 4], [3, 2, 7], [4, 9, 2], [5, 10, 5], [6, 9, 8], [7, 5, 5], [8, 5, 3], [9, 5, 9]]\n"
     ]
    }
   ],
   "source": [
    "L = []\n",
    "myfile = open('/data files/landmarks.dat')\n",
    "for line in myfile:\n",
    "    L.append( [int(x) for x in line.split()])\n",
    "print(L)\n",
    "number_of_sensors = len(L)*2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 81,
   "id": "34f26142",
   "metadata": {},
   "outputs": [],
   "source": [
    "def conc(Y,x):\n",
    "    if len(Y) == 0:\n",
    "        return x\n",
    "    else:\n",
    "        return np.vstack((Y,x))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 94,
   "id": "303b5cb3",
   "metadata": {},
   "outputs": [],
   "source": [
    "def nrml(ang):\n",
    "    while ang >= 2 * math.pi:\n",
    "        ang-= 2*math.pi\n",
    "    while ang < 0:\n",
    "        ang += 2*math.pi\n",
    "    return ang"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 151,
   "id": "ba8d03da",
   "metadata": {},
   "outputs": [],
   "source": [
    "def resample(w):\n",
    "    x_samples = x.copy()\n",
    "    w_indices = [i for i in range(len(w))]\n",
    "    w_dist = stats.rv_discrete(values=(w_indices, w))\n",
    "    for j in range(N):\n",
    "        resample_index = w_dist.rvs()\n",
    "        x[j] = x_samples[resample_index]\n",
    "    return x"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 121,
   "id": "3c56e496",
   "metadata": {},
   "outputs": [],
   "source": [
    "def f(x):\n",
    "    x[0] = nrml(x[0])\n",
    "    e1 = math.sqrt(alpha[0]  * abs(deltar1) +  alpha[1] *  deltat)\n",
    "    e2 = math.sqrt(alpha[2]  * deltat +  alpha[3] *  (abs(deltar1) + abs(deltar2)))\n",
    "    e3 = math.sqrt(alpha[0]  * abs(deltar2) +  alpha[1] *  deltat)\n",
    "    Dr1 = nrml(deltar1 +  np.random.normal(0,e1))\n",
    "    Dr2 = nrml(deltar2 +  np.random.normal(0,e2))\n",
    "    Dt  = deltat  +  np.random.normal(0,e3)\n",
    "    return np.array([nrml(x[0] + Dr1 + Dr2 ), x[1] + Dt * cos(x[0]+ Dr1) , x[2] + Dt * sin(x[0] +  Dr1)])"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "61697abd",
   "metadata": {},
   "source": [
    "# Фильтр частиц  для расстояний"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 152,
   "id": "697ce311",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "1\n",
      "ODOMETRY 0.100068080139 0.100249642432 -0.000326992241362\n",
      "\n",
      "num = \n",
      "2\n",
      "SENSOR 1 2.08219220544 0.311724182123\n",
      "\n",
      "num = \n",
      "3\n",
      "SENSOR 2 4.01188450412 1.44126366316\n",
      "\n",
      "num = \n",
      "4\n",
      "ODOMETRY 0.100770135385 0.0999830371692 0.000283319078732\n",
      "\n",
      "num = \n",
      "5\n",
      "SENSOR 1 2.03292033382 0.309629930574\n",
      "\n",
      "num = \n",
      "6\n",
      "SENSOR 2 3.67779686283 1.3616405663\n",
      "\n",
      "num = \n",
      "7\n",
      "ODOMETRY 0.100250871824 0.0999613218142 -0.000425899489536\n",
      "\n",
      "num = \n",
      "8\n",
      "SENSOR 1 1.91136870178 0.177168372291\n",
      "\n",
      "num = \n",
      "9\n",
      "SENSOR 2 4.08834234003 1.33657402646\n",
      "\n",
      "num = \n",
      "10\n",
      "ODOMETRY 0.0985096726563 0.100081615233 -0.000571339302397\n",
      "\n",
      "num = \n",
      "11\n",
      "SENSOR 1 1.98574147997 0.089747632785\n",
      "\n",
      "num = \n",
      "12\n",
      "SENSOR 2 3.93046602632 1.29955605297\n",
      "\n",
      "num = \n",
      "13\n",
      "ODOMETRY 0.101801020564 0.100072032353 -0.000788337604257\n",
      "\n",
      "num = \n",
      "14\n",
      "SENSOR 1 1.67053917265 0.061660128389\n",
      "\n",
      "num = \n",
      "15\n",
      "SENSOR 2 3.93135144955 1.20012845634\n",
      "\n",
      "num = \n",
      "16\n",
      "ODOMETRY 0.100732548455 0.0996154508379 -0.000105935989332\n",
      "\n",
      "num = \n",
      "17\n",
      "SENSOR 1 1.69509870017 -0.00971084225084\n",
      "\n",
      "num = \n",
      "18\n",
      "SENSOR 2 3.92006968797 1.17072603097\n",
      "\n",
      "num = \n",
      "19\n",
      "ODOMETRY 0.0985339028457 0.10011190473 0.000126323563896\n",
      "\n",
      "num = \n",
      "20\n",
      "SENSOR 1 1.62936210161 -0.242180309032\n",
      "\n",
      "num = \n",
      "21\n",
      "SENSOR 2 3.76644245257 1.02862466314\n",
      "\n",
      "num = \n",
      "22\n",
      "ODOMETRY 0.101049451133 0.100199835316 -0.000361303653382\n",
      "\n",
      "num = \n",
      "23\n",
      "SENSOR 1 1.47134359284 -0.352165302038\n",
      "\n",
      "num = \n",
      "24\n",
      "SENSOR 2 3.88216721427 0.893742578962\n",
      "\n",
      "num = \n",
      "25\n",
      "ODOMETRY 0.100646006753 0.0999299988125 0.000199325181315\n",
      "\n",
      "num = \n",
      "26\n",
      "SENSOR 8 4.93921740531 -0.413558750818\n",
      "\n",
      "num = \n",
      "27\n",
      "SENSOR 1 1.45171120046 -0.531515257689\n",
      "\n",
      "num = \n",
      "28\n",
      "SENSOR 2 3.61292938589 0.815152950843\n",
      "\n",
      "num = \n",
      "29\n",
      "ODOMETRY 0.0986517196475 0.0996899122762 -2.47048086689e-05\n",
      "\n",
      "num = \n",
      "30\n",
      "SENSOR 8 4.76780517727 -0.560485980645\n",
      "\n",
      "num = \n",
      "31\n",
      "SENSOR 1 1.25977658533 -0.608502603201\n",
      "\n",
      "num = \n",
      "32\n",
      "SENSOR 2 3.58758897877 0.768999739321\n",
      "\n",
      "num = \n",
      "33\n",
      "ODOMETRY 0.0983783352026 0.100103903116 0.000580323884346\n",
      "\n",
      "num = \n",
      "34\n",
      "SENSOR 8 4.81973993711 -0.532538310746\n",
      "\n",
      "num = \n",
      "35\n",
      "SENSOR 1 0.981617551705 -0.742740691691\n",
      "\n",
      "num = \n",
      "36\n",
      "SENSOR 2 3.65363991018 0.717099015343\n",
      "\n",
      "num = \n",
      "37\n",
      "ODOMETRY 0.0477851306253 0.10000880302 7.14998356851e-05\n",
      "\n",
      "num = \n",
      "38\n",
      "SENSOR 8 4.69412317073 -0.714693990088\n",
      "\n",
      "num = \n",
      "39\n",
      "SENSOR 1 0.889692284132 -0.912768830535\n",
      "\n",
      "num = \n",
      "40\n",
      "SENSOR 2 3.27804121777 0.703988234457\n",
      "\n",
      "num = \n",
      "41\n",
      "ODOMETRY 0.100701996576 0.100266974551 -0.000335673561525\n",
      "\n",
      "num = \n",
      "42\n",
      "SENSOR 8 4.72028592939 -0.733173312299\n",
      "\n",
      "num = \n",
      "43\n",
      "SENSOR 1 1.11605364534 -1.03393225263\n",
      "\n",
      "num = \n",
      "44\n",
      "SENSOR 2 3.45317577132 0.704087914409\n",
      "\n",
      "num = \n",
      "45\n",
      "ODOMETRY 0.0988844296869 0.100202981841 0.000378182453029\n",
      "\n",
      "num = \n",
      "46\n",
      "SENSOR 8 4.51734791884 -0.886010778471\n",
      "\n",
      "num = \n",
      "47\n",
      "SENSOR 1 1.11737720049 -1.1471188092\n",
      "\n",
      "num = \n",
      "48\n",
      "SENSOR 2 3.26572508712 0.570889569998\n",
      "\n",
      "num = \n",
      "49\n",
      "ODOMETRY 0.0998739532533 0.100266124139 0.000519858056677\n",
      "\n",
      "num = \n",
      "50\n",
      "SENSOR 8 4.48462280222 -0.966606890106\n",
      "\n",
      "num = \n",
      "51\n",
      "SENSOR 1 1.06542968964 -1.42889713872\n",
      "\n",
      "num = \n",
      "52\n",
      "SENSOR 2 3.15296002235 0.438635736284\n",
      "\n",
      "num = \n",
      "53\n",
      "ODOMETRY 0.101017200244 0.10002018603 0.000179326208802\n",
      "\n",
      "num = \n",
      "54\n",
      "SENSOR 8 4.42687773375 -1.04100907153\n",
      "\n",
      "num = \n",
      "55\n",
      "SENSOR 1 1.14669960644 -1.65542831243\n",
      "\n",
      "num = \n",
      "56\n",
      "SENSOR 2 3.14207841959 0.245239278537\n",
      "\n",
      "num = \n",
      "57\n",
      "ODOMETRY -0.000365836723125 0.0998880602308 -0.000594119748269\n",
      "\n",
      "num = \n",
      "58\n",
      "SENSOR 8 4.32047834095 -1.07832072634\n",
      "\n",
      "num = \n",
      "59\n",
      "SENSOR 1 1.06665067311 -1.73396893097\n",
      "\n",
      "num = \n",
      "60\n",
      "SENSOR 2 3.16411445815 0.396562501153\n",
      "\n",
      "num = \n",
      "61\n",
      "ODOMETRY 0.0008560662579 0.100121149657 7.93199521286e-05\n",
      "\n",
      "num = \n",
      "62\n",
      "SENSOR 8 4.4083672026 -1.14242529491\n",
      "\n",
      "num = \n",
      "63\n",
      "SENSOR 1 1.07131973537 -1.83637005746\n",
      "\n",
      "num = \n",
      "64\n",
      "SENSOR 2 3.00608100632 0.319712149254\n",
      "\n",
      "num = \n",
      "65\n",
      "ODOMETRY -0.000502271364817 0.100002539984 -0.00132762186415\n",
      "\n",
      "num = \n",
      "66\n",
      "SENSOR 8 4.35625330918 -1.2120234075\n",
      "\n",
      "num = \n",
      "67\n",
      "SENSOR 1 1.06513750422 -1.93794562344\n",
      "\n",
      "num = \n",
      "68\n",
      "SENSOR 2 2.87221060659 0.348626462067\n",
      "\n",
      "num = \n",
      "69\n",
      "ODOMETRY -0.000286282657109 0.100075028742 0.000203427548137\n",
      "\n",
      "num = \n",
      "70\n",
      "SENSOR 8 4.51559801964 -1.20410559811\n",
      "\n",
      "num = \n",
      "71\n",
      "SENSOR 1 0.991259316949 -1.88047643431\n",
      "\n",
      "num = \n",
      "72\n",
      "SENSOR 2 2.67106017041 0.420072113582\n",
      "\n",
      "num = \n",
      "73\n",
      "ODOMETRY -0.000229750842955 0.0999046983329 -0.000311008934246\n",
      "\n",
      "num = \n",
      "74\n",
      "SENSOR 8 4.29006601943 -1.17446270466\n",
      "\n",
      "num = \n",
      "75\n",
      "SENSOR 1 1.36529827765 -2.02439155194\n",
      "\n",
      "num = \n",
      "76\n",
      "SENSOR 2 2.66150771637 0.330374996877\n",
      "\n",
      "num = \n",
      "77\n",
      "ODOMETRY -2.088438972e-05 0.0999273476833 -0.000906619975163\n",
      "\n",
      "num = \n",
      "78\n",
      "SENSOR 8 3.7897352465 -1.23619082762\n",
      "\n",
      "num = \n",
      "79\n",
      "SENSOR 1 1.29945714256 -2.18998039635\n",
      "\n",
      "num = \n",
      "80\n",
      "SENSOR 2 2.48856453888 0.411518511854\n",
      "\n",
      "num = \n",
      "81\n",
      "ODOMETRY 0.000630713715905 0.0999929809715 -0.00088863540781\n",
      "\n",
      "num = \n",
      "82\n",
      "SENSOR 8 4.14275835448 -1.25028829595\n",
      "\n",
      "num = \n",
      "83\n",
      "SENSOR 1 1.45807938719 -2.22435178719\n",
      "\n",
      "num = \n",
      "84\n",
      "SENSOR 2 2.48415492598 0.308694824537\n",
      "\n",
      "num = \n",
      "85\n",
      "ODOMETRY -0.000538797851558 0.0999807240428 0.000665952857479\n",
      "\n",
      "num = \n",
      "86\n",
      "SENSOR 8 4.05028730602 -1.28066149914\n",
      "\n",
      "num = \n",
      "87\n",
      "SENSOR 1 1.33772149638 -2.32919845808\n",
      "\n",
      "num = \n",
      "88\n",
      "SENSOR 2 2.35806514792 0.481592810084\n",
      "\n",
      "num = \n",
      "89\n",
      "ODOMETRY -8.8741587688e-05 0.0999338789141 -0.000901986689899\n",
      "\n",
      "num = \n",
      "90\n",
      "SENSOR 8 4.04371108694 -1.29215731784\n",
      "\n",
      "num = \n",
      "91\n",
      "SENSOR 1 1.18940017544 -2.41019003108\n",
      "\n",
      "num = \n",
      "92\n",
      "SENSOR 2 2.16402152809 0.452351184553\n",
      "\n",
      "num = \n",
      "93\n",
      "ODOMETRY -0.000399071169303 0.100024797529 -0.000652113436273\n",
      "\n",
      "num = \n",
      "94\n",
      "SENSOR 8 4.10875818018 -1.33626325627\n",
      "\n",
      "num = \n",
      "95\n",
      "SENSOR 1 1.31593071143 -2.40293052266\n",
      "\n",
      "num = \n",
      "96\n",
      "SENSOR 2 2.14045807623 0.453087751433\n",
      "\n",
      "num = \n",
      "97\n",
      "SENSOR 7 4.93702119825 -0.887304938531\n",
      "\n",
      "num = \n",
      "98\n",
      "ODOMETRY -0.00043400840481 0.100037176116 0.000262150218538\n",
      "\n",
      "num = \n",
      "99\n",
      "SENSOR 8 3.95492104925 -1.31959234338\n",
      "\n",
      "num = \n",
      "100\n",
      "SENSOR 1 1.53576092208 -2.38113023894\n",
      "\n",
      "num = \n",
      "101\n",
      "SENSOR 2 2.04053441362 0.509882611215\n",
      "\n",
      "num = \n",
      "102\n",
      "SENSOR 3 4.92762583186 -0.197579128478\n",
      "\n",
      "num = \n",
      "103\n",
      "SENSOR 7 4.70765464935 -1.01273735443\n",
      "\n",
      "num = \n",
      "104\n",
      "ODOMETRY 0.000128844342027 0.100007222031 0.000540536535221\n",
      "\n",
      "num = \n",
      "105\n",
      "SENSOR 8 4.12472878108 -1.25537520663\n",
      "\n",
      "num = \n",
      "106\n",
      "SENSOR 1 1.56341917385 -2.4022743318\n",
      "\n",
      "num = \n",
      "107\n",
      "SENSOR 2 2.12782879777 0.467055424497\n",
      "\n",
      "num = \n",
      "108\n",
      "SENSOR 3 4.77831543463 -0.21044106943\n",
      "\n",
      "num = \n",
      "109\n",
      "SENSOR 7 5.04959671206 -1.00574001321\n",
      "\n",
      "num = \n",
      "110\n",
      "ODOMETRY 0.000821221423713 0.0999700846902 0.000171960065645\n",
      "\n",
      "num = \n",
      "111\n",
      "SENSOR 8 4.22752752551 -1.31050867237\n",
      "\n",
      "num = \n",
      "112\n",
      "SENSOR 1 1.62887082761 -2.50044209724\n",
      "\n",
      "num = \n",
      "113\n",
      "SENSOR 2 1.85239319995 0.513976563887\n",
      "\n",
      "num = \n",
      "114\n",
      "SENSOR 3 4.62129014747 -0.238048739168\n",
      "\n",
      "num = \n",
      "115\n",
      "SENSOR 7 4.70116944256 -0.981694027961\n",
      "\n",
      "num = \n",
      "116\n",
      "ODOMETRY 3.63176433387e-05 0.0999889600374 -0.000387249853078\n",
      "\n",
      "num = \n",
      "117\n",
      "SENSOR 8 4.08620128191 -1.54706087119\n",
      "\n",
      "num = \n",
      "118\n",
      "SENSOR 1 1.82736412596 -2.53783272389\n",
      "\n",
      "num = \n",
      "119\n",
      "SENSOR 2 1.85255991133 0.693873709971\n",
      "\n",
      "num = \n",
      "120\n",
      "SENSOR 3 4.69635600333 -0.161117666304\n",
      "\n",
      "num = \n",
      "121\n",
      "SENSOR 7 4.56994398695 -0.90393316826\n",
      "\n",
      "num = \n",
      "122\n",
      "ODOMETRY -0.000630577066776 0.100058249368 0.000228230062552\n",
      "\n",
      "num = \n",
      "123\n",
      "SENSOR 8 3.99438249634 -1.47576779752\n",
      "\n",
      "num = \n",
      "124\n",
      "SENSOR 1 1.83211425373 -2.60514329637\n",
      "\n",
      "num = \n",
      "125\n",
      "SENSOR 2 1.64646955888 0.650588919246\n",
      "\n",
      "num = \n",
      "126\n",
      "SENSOR 3 4.53186429612 -0.24307956167\n",
      "\n",
      "num = \n",
      "127\n",
      "SENSOR 7 4.68735681738 -1.03155344577\n",
      "\n",
      "num = \n",
      "128\n",
      "ODOMETRY 0.000146895611028 0.0999768475843 9.48558153982e-05\n",
      "\n",
      "num = \n",
      "129\n",
      "SENSOR 8 4.08463534351 -1.45306826872\n",
      "\n",
      "num = \n",
      "130\n",
      "SENSOR 1 1.87917573809 -2.53187975867\n",
      "\n",
      "num = \n",
      "131\n",
      "SENSOR 2 1.69892666651 0.636859678124\n",
      "\n",
      "num = \n",
      "132\n",
      "SENSOR 3 4.64378623667 -0.215067229405\n",
      "\n",
      "num = \n",
      "133\n",
      "SENSOR 7 4.46736493689 -0.968365607561\n",
      "\n",
      "num = \n",
      "134\n",
      "ODOMETRY 0.00076898398192 0.100045462587 0.000349176972375\n",
      "\n",
      "num = \n",
      "135\n",
      "SENSOR 8 3.9234096328 -1.52597518099\n",
      "\n",
      "num = \n",
      "136\n",
      "SENSOR 1 2.07490012249 -2.59783030627\n",
      "\n",
      "num = \n",
      "137\n",
      "SENSOR 2 1.64842251689 0.650794978634\n",
      "\n",
      "num = \n",
      "138\n",
      "SENSOR 3 4.36581417522 -0.193899440989\n",
      "\n",
      "num = \n",
      "139\n",
      "SENSOR 7 4.58726333814 -0.95531696867\n",
      "\n",
      "num = \n",
      "140\n",
      "ODOMETRY -0.000346846003359 0.0999457293863 3.62888438338e-05\n",
      "\n",
      "num = \n",
      "141\n",
      "SENSOR 8 3.89002354289 -1.46740358605\n",
      "\n",
      "num = \n",
      "142\n",
      "SENSOR 1 2.05290616199 -2.5245893213\n",
      "\n",
      "num = \n",
      "143\n",
      "SENSOR 2 1.54865947041 0.780821379393\n",
      "\n",
      "num = \n",
      "144\n",
      "SENSOR 3 4.30361185065 -0.259214712149\n",
      "\n",
      "num = \n",
      "145\n",
      "SENSOR 7 4.57891258404 -1.04946672068\n",
      "\n",
      "num = \n",
      "146\n",
      "ODOMETRY -0.000337867691271 0.099983483764 7.4052901764e-05\n",
      "\n",
      "num = \n",
      "147\n",
      "SENSOR 8 4.08872951736 -1.4507987188\n",
      "\n",
      "num = \n",
      "148\n",
      "SENSOR 1 2.23474874132 -2.66437276168\n",
      "\n",
      "num = \n",
      "149\n",
      "SENSOR 2 1.47329973029 0.753628269663\n",
      "\n",
      "num = \n",
      "150\n",
      "SENSOR 3 4.11996922333 -0.254205778547\n",
      "\n",
      "num = \n",
      "151\n",
      "SENSOR 7 4.61927472263 -1.09600256261\n",
      "\n",
      "num = \n",
      "152\n",
      "ODOMETRY 0.000155094238789 0.0998424363998 0.000145117081085\n",
      "\n",
      "num = \n",
      "153\n",
      "SENSOR 8 4.01826082311 -1.69003829944\n",
      "\n",
      "num = \n",
      "154\n",
      "SENSOR 1 2.14684067939 -2.56316055159\n",
      "\n",
      "num = \n",
      "155\n",
      "SENSOR 2 1.34325763246 0.854947638575\n",
      "\n",
      "num = \n",
      "156\n",
      "SENSOR 3 4.16523223757 -0.181009231781\n",
      "\n",
      "num = \n",
      "157\n",
      "SENSOR 7 4.43418959305 -1.1520937784\n",
      "\n",
      "num = \n",
      "158\n",
      "ODOMETRY 0.000316806612408 0.100088512935 0.000437224694786\n",
      "\n",
      "num = \n",
      "159\n",
      "SENSOR 8 3.90575956629 -1.65206953702\n",
      "\n",
      "num = \n",
      "160\n",
      "SENSOR 1 2.26217194351 -2.64231170956\n",
      "\n",
      "num = \n",
      "161\n",
      "SENSOR 2 1.29185400214 0.872528113834\n",
      "\n",
      "num = \n",
      "162\n",
      "SENSOR 3 3.65582503043 -0.174487508097\n",
      "\n",
      "num = \n",
      "163\n",
      "SENSOR 7 4.46232141614 -1.03863758688\n",
      "\n",
      "num = \n",
      "164\n",
      "ODOMETRY 0.000396584140367 0.100051736586 0.000100341305886\n",
      "\n",
      "num = \n",
      "165\n",
      "SENSOR 8 4.1313715305 -1.62102566609\n",
      "\n",
      "num = \n",
      "166\n",
      "SENSOR 1 2.60845272066 -2.77267328297\n",
      "\n",
      "num = \n",
      "167\n",
      "SENSOR 2 1.25595442662 0.969413859717\n",
      "\n",
      "num = \n",
      "168\n",
      "SENSOR 3 3.76293968956 -0.324246891019\n",
      "\n",
      "num = \n",
      "169\n",
      "SENSOR 7 4.43637836801 -1.15220051975\n",
      "\n",
      "num = \n",
      "170\n",
      "ODOMETRY -0.000595072432269 0.100043086242 -9.59599659854e-05\n",
      "\n",
      "num = \n",
      "171\n",
      "SENSOR 8 3.95005202679 -1.66532032181\n",
      "\n",
      "num = \n",
      "172\n",
      "SENSOR 1 2.52421776227 -2.79521321592\n",
      "\n",
      "num = \n",
      "173\n",
      "SENSOR 2 1.02495220487 1.05450652378\n",
      "\n",
      "num = \n",
      "174\n",
      "SENSOR 3 3.788399518 -0.199392369648\n",
      "\n",
      "num = \n",
      "175\n",
      "SENSOR 7 4.41848195546 -1.16000555961\n",
      "\n",
      "num = \n",
      "176\n",
      "ODOMETRY 0.00020686630122 0.100003634137 0.000174284091117\n",
      "\n",
      "num = \n",
      "177\n",
      "SENSOR 8 4.21593691533 -1.67685218319\n",
      "\n",
      "num = \n",
      "178\n",
      "SENSOR 1 2.60572754814 -2.65058960288\n",
      "\n",
      "num = \n",
      "179\n",
      "SENSOR 2 1.21544936634 1.12650951115\n",
      "\n",
      "num = \n",
      "180\n",
      "SENSOR 3 3.57757108363 -0.282274152838\n",
      "\n",
      "num = \n",
      "181\n",
      "SENSOR 7 4.27811863545 -1.0866832728\n",
      "\n",
      "num = \n",
      "182\n",
      "ODOMETRY -1.58467883914e-05 0.100081198722 0.00111303377529\n",
      "\n",
      "num = \n",
      "183\n",
      "SENSOR 8 4.09213091309 -1.60270401945\n",
      "\n",
      "num = \n",
      "184\n",
      "SENSOR 1 2.63430303346 -2.69427801519\n",
      "\n",
      "num = \n",
      "185\n",
      "SENSOR 2 1.12271772393 1.23530150791\n",
      "\n",
      "num = \n",
      "186\n",
      "SENSOR 3 3.42171934399 -0.159380628456\n",
      "\n",
      "num = \n",
      "187\n",
      "SENSOR 7 4.10892282294 -1.15942258078\n",
      "\n",
      "num = \n",
      "188\n",
      "ODOMETRY 8.73535254527e-05 0.0998282270455 0.00069328150786\n",
      "\n",
      "num = \n",
      "189\n",
      "SENSOR 8 4.06691086507 -1.68618453971\n",
      "\n",
      "num = \n",
      "190\n",
      "SENSOR 1 3.00059912896 -2.75790958214\n",
      "\n",
      "num = \n",
      "191\n",
      "SENSOR 2 1.09784386495 1.28242184852\n",
      "\n",
      "num = \n",
      "192\n",
      "SENSOR 3 3.45975686006 -0.299947185097\n",
      "\n",
      "num = \n",
      "193\n",
      "SENSOR 7 4.21606938016 -1.22595917258\n",
      "\n",
      "num = \n",
      "194\n",
      "ODOMETRY 0.000347709121419 0.099989135925 -0.000327333915021\n",
      "\n",
      "num = \n",
      "195\n",
      "SENSOR 8 4.03145242185 -1.82234673079\n",
      "\n",
      "num = \n",
      "196\n",
      "SENSOR 1 2.7283132317 -2.72352129636\n",
      "\n",
      "num = \n",
      "197\n",
      "SENSOR 2 1.0986462142 1.3897370358\n",
      "\n",
      "num = \n",
      "198\n",
      "SENSOR 3 3.42280138704 -0.239939959662\n",
      "\n",
      "num = \n",
      "199\n",
      "SENSOR 7 4.13146027225 -1.33696155136\n",
      "\n",
      "num = \n",
      "200\n",
      "ODOMETRY 0.000215283651362 0.100135232465 -0.000156472578116\n",
      "\n",
      "num = \n",
      "201\n",
      "SENSOR 8 4.11191369814 -1.68045817644\n",
      "\n",
      "num = \n",
      "202\n",
      "SENSOR 1 2.88100750644 -2.8118558116\n",
      "\n",
      "num = \n",
      "203\n",
      "SENSOR 2 1.08422779189 1.53703938422\n",
      "\n",
      "num = \n",
      "204\n",
      "SENSOR 3 3.23802480967 -0.298865592222\n",
      "\n",
      "num = \n",
      "205\n",
      "SENSOR 7 3.92430059954 -1.2513495671\n",
      "\n",
      "num = \n",
      "206\n",
      "ODOMETRY 0.000699908948264 0.100123141021 8.42269932264e-05\n",
      "\n",
      "num = \n",
      "207\n",
      "SENSOR 8 4.18013359717 -1.83007015687\n",
      "\n",
      "num = \n",
      "208\n",
      "SENSOR 1 3.16496755595 -2.7249520262\n",
      "\n",
      "num = \n",
      "209\n",
      "SENSOR 2 1.03966888966 1.62190485432\n",
      "\n",
      "num = \n",
      "210\n",
      "SENSOR 3 2.95234868305 -0.298088061123\n",
      "\n",
      "num = \n",
      "211\n",
      "SENSOR 7 4.21869316896 -1.32396380556\n",
      "\n",
      "num = \n",
      "212\n",
      "ODOMETRY 0.000146304820974 0.100003610925 -0.000493262057944\n",
      "\n",
      "num = \n",
      "213\n",
      "SENSOR 8 3.94056561454 -1.72664932484\n",
      "\n",
      "num = \n",
      "214\n",
      "SENSOR 1 3.05585689241 -2.91606096339\n",
      "\n",
      "num = \n",
      "215\n",
      "SENSOR 2 0.970490294322 1.57869885547\n",
      "\n",
      "num = \n",
      "216\n",
      "SENSOR 3 3.06439059778 -0.220001471705\n",
      "\n",
      "num = \n",
      "217\n",
      "SENSOR 7 4.01722278831 -1.41192858073\n",
      "\n",
      "num = \n",
      "218\n",
      "ODOMETRY -0.000469753631854 0.0999812574125 -0.000349578928424\n",
      "\n",
      "num = \n",
      "219\n",
      "SENSOR 8 4.20081627072 -1.867694847\n",
      "\n",
      "num = \n",
      "220\n",
      "SENSOR 1 3.23655785274 -2.87531417208\n",
      "\n",
      "num = \n",
      "221\n",
      "SENSOR 2 1.09377220304 1.69758514255\n",
      "\n",
      "num = \n",
      "222\n",
      "SENSOR 3 3.02220023495 -0.285685020919\n",
      "\n",
      "num = \n",
      "223\n",
      "SENSOR 7 4.02951832899 -1.32970556995\n",
      "\n",
      "num = \n",
      "224\n",
      "ODOMETRY 0.000276223904826 0.0999191243284 0.00027679774922\n",
      "\n",
      "num = \n",
      "225\n",
      "SENSOR 8 4.14356263048 -1.81911384298\n",
      "\n",
      "num = \n",
      "226\n",
      "SENSOR 1 3.48850401338 -2.95308609631\n",
      "\n",
      "num = \n",
      "227\n",
      "SENSOR 2 1.21895537654 1.89695389158\n",
      "\n",
      "num = \n",
      "228\n",
      "SENSOR 3 2.95496296047 -0.412332155049\n",
      "\n",
      "num = \n",
      "229\n",
      "SENSOR 7 3.97851953254 -1.41850067197\n",
      "\n",
      "num = \n",
      "230\n",
      "ODOMETRY -0.000574110717379 0.100065895542 7.42975463624e-05\n",
      "\n",
      "num = \n",
      "231\n",
      "SENSOR 8 4.18713957935 -1.82903868679\n",
      "\n",
      "num = \n",
      "232\n",
      "SENSOR 1 3.58444208247 -2.90000922146\n",
      "\n",
      "num = \n",
      "233\n",
      "SENSOR 2 1.16617322329 1.96782799493\n",
      "\n",
      "num = \n",
      "234\n",
      "SENSOR 3 2.88587886236 -0.268132703406\n",
      "\n",
      "num = \n",
      "235\n",
      "SENSOR 7 3.95102456035 -1.33564546586\n",
      "\n",
      "num = \n",
      "236\n",
      "ODOMETRY -0.000303527754303 0.100036479249 0.000120679215337\n",
      "\n",
      "num = \n",
      "237\n",
      "SENSOR 8 4.33557776267 -1.8952309378\n",
      "\n",
      "num = \n",
      "238\n",
      "SENSOR 1 3.52266750074 -2.80565645025\n",
      "\n",
      "num = \n",
      "239\n",
      "SENSOR 2 1.33898342761 1.94318357339\n",
      "\n",
      "num = \n",
      "240\n",
      "SENSOR 3 2.75984351144 -0.321418220229\n",
      "\n",
      "num = \n",
      "241\n",
      "SENSOR 7 3.85028028576 -1.41218644398\n",
      "\n",
      "num = \n",
      "242\n",
      "ODOMETRY 0.000751190117815 0.0999465325627 2.66572044066e-05\n",
      "\n",
      "num = \n",
      "243\n",
      "SENSOR 8 4.26424281217 -1.9520550137\n",
      "\n",
      "num = \n",
      "244\n",
      "SENSOR 1 3.66960039519 -2.78902261198\n",
      "\n",
      "num = \n",
      "245\n",
      "SENSOR 2 1.29001437137 2.02420714627\n",
      "\n",
      "num = \n",
      "246\n",
      "SENSOR 3 2.44597865869 -0.360249984864\n",
      "\n",
      "num = \n",
      "247\n",
      "SENSOR 7 3.87719751917 -1.46755655546\n",
      "\n",
      "num = \n",
      "248\n",
      "ODOMETRY -0.000390692691475 0.0999675174117 -0.000328645323174\n",
      "\n",
      "num = \n",
      "249\n",
      "SENSOR 8 4.19365564063 -1.92471191989\n",
      "\n",
      "num = \n",
      "250\n",
      "SENSOR 1 3.71660371636 -2.89880167139\n",
      "\n",
      "num = \n",
      "251\n",
      "SENSOR 2 1.37478994828 2.16176166116\n",
      "\n",
      "num = \n",
      "252\n",
      "SENSOR 3 2.47105512001 -0.396498170735\n",
      "\n",
      "num = \n",
      "253\n",
      "SENSOR 7 3.93541932234 -1.40196408481\n",
      "\n",
      "num = \n",
      "254\n",
      "ODOMETRY 0.000430833763166 0.100121811301 0.000602791454338\n",
      "\n",
      "num = \n",
      "255\n",
      "SENSOR 8 4.26144588605 -1.91323096117\n",
      "\n",
      "num = \n",
      "256\n",
      "SENSOR 1 3.85015660938 -2.90642599378\n",
      "\n",
      "num = \n",
      "257\n",
      "SENSOR 2 1.18985055101 2.15081675827\n",
      "\n",
      "num = \n",
      "258\n",
      "SENSOR 3 2.35062966792 -0.378636021277\n",
      "\n",
      "num = \n",
      "259\n",
      "SENSOR 7 3.89718480758 -1.51976854624\n",
      "\n",
      "num = \n",
      "260\n",
      "ODOMETRY 0.000937171920785 0.100245067208 0.000107191286469\n",
      "\n",
      "num = \n",
      "261\n",
      "SENSOR 8 4.28845710797 -2.09358301713\n",
      "\n",
      "num = \n",
      "262\n",
      "SENSOR 1 4.06600959697 -2.79563059057\n",
      "\n",
      "num = \n",
      "263\n",
      "SENSOR 2 1.3548509133 2.34798014742\n",
      "\n",
      "num = \n",
      "264\n",
      "SENSOR 3 2.48881608082 -0.392958865925\n",
      "\n",
      "num = \n",
      "265\n",
      "SENSOR 7 3.99866282902 -1.54883009876\n",
      "\n",
      "num = \n",
      "266\n",
      "ODOMETRY -2.08571269898e-05 0.100022875113 -0.000549373331383\n",
      "\n",
      "num = \n",
      "267\n",
      "SENSOR 8 4.31270408799 -1.94888011457\n",
      "\n",
      "num = \n",
      "268\n",
      "SENSOR 1 4.15616130461 -2.85845991979\n",
      "\n",
      "num = \n",
      "269\n",
      "SENSOR 2 1.38704444255 2.46415446871\n",
      "\n",
      "num = \n",
      "270\n",
      "SENSOR 3 2.43826269367 -0.423200342444\n",
      "\n",
      "num = \n",
      "271\n",
      "SENSOR 7 4.00207196533 -1.66511690649\n",
      "\n",
      "num = \n",
      "272\n",
      "ODOMETRY -0.000454916674554 0.100046929065 -0.00012276577809\n",
      "\n",
      "num = \n",
      "273\n",
      "SENSOR 8 4.43851339693 -2.03638342055\n",
      "\n",
      "num = \n",
      "274\n",
      "SENSOR 1 4.23779263643 -2.85493213715\n",
      "\n",
      "num = \n",
      "275\n",
      "SENSOR 2 1.62658867011 2.3853781078\n",
      "\n",
      "num = \n",
      "276\n",
      "SENSOR 3 2.14575738813 -0.355438087834\n",
      "\n",
      "num = \n",
      "277\n",
      "SENSOR 7 3.98832656572 -1.63602315106\n",
      "\n",
      "num = \n",
      "278\n",
      "ODOMETRY 0.000568841652529 0.100043527909 0.00019421411033\n",
      "\n",
      "num = \n",
      "279\n",
      "SENSOR 8 4.43038399555 -2.1467659026\n",
      "\n",
      "num = \n",
      "280\n",
      "SENSOR 1 4.27289589106 -2.86194579381\n",
      "\n",
      "num = \n",
      "281\n",
      "SENSOR 2 1.33070128652 2.4284133944\n",
      "\n",
      "num = \n",
      "282\n",
      "SENSOR 3 1.97515517236 -0.453893945683\n",
      "\n",
      "num = \n",
      "283\n",
      "SENSOR 7 3.87027187105 -1.49347027146\n",
      "\n",
      "num = \n",
      "284\n",
      "ODOMETRY 0.000351618401646 0.100050950039 -0.000824288478843\n",
      "\n",
      "num = \n",
      "285\n",
      "SENSOR 8 4.48932994637 -2.22079042429\n",
      "\n",
      "num = \n",
      "286\n",
      "SENSOR 1 4.32454032196 -2.93268395418\n",
      "\n",
      "num = \n",
      "287\n",
      "SENSOR 2 1.65047048587 2.41884928933\n",
      "\n",
      "num = \n",
      "288\n",
      "SENSOR 3 1.9499357512 -0.490942842041\n",
      "\n",
      "num = \n",
      "289\n",
      "SENSOR 7 3.92936577095 -1.61796315681\n",
      "\n",
      "num = \n",
      "290\n",
      "ODOMETRY -0.00064766761664 0.0997704211983 0.000143709358101\n",
      "\n",
      "num = \n",
      "291\n",
      "SENSOR 8 4.58046419275 -2.11793421939\n",
      "\n",
      "num = \n",
      "292\n",
      "SENSOR 1 4.36825197989 -2.94339559654\n",
      "\n",
      "num = \n",
      "293\n",
      "SENSOR 2 1.64230522814 2.55865273625\n",
      "\n",
      "num = \n",
      "294\n",
      "SENSOR 3 1.85882740532 -0.543749403929\n",
      "\n",
      "num = \n",
      "295\n",
      "SENSOR 7 3.9834057962 -1.58472664275\n",
      "\n",
      "num = \n",
      "296\n",
      "ODOMETRY -0.000153526720823 0.10006846962 -0.000337334675384\n",
      "\n",
      "num = \n",
      "297\n",
      "SENSOR 8 4.71971548591 -2.19042750886\n",
      "\n",
      "num = \n",
      "298\n",
      "SENSOR 1 4.53675498426 -2.85909082975\n",
      "\n",
      "num = \n",
      "299\n",
      "SENSOR 2 1.82937908884 2.54501038816\n",
      "\n",
      "num = \n",
      "300\n",
      "SENSOR 3 1.93879574485 -0.417357184106\n",
      "\n",
      "num = \n",
      "301\n",
      "SENSOR 7 3.96764171359 -1.72431501224\n",
      "\n",
      "num = \n",
      "302\n",
      "ODOMETRY 2.96783947095e-05 0.0998645608421 0.000289155191736\n",
      "\n",
      "num = \n",
      "303\n",
      "SENSOR 8 4.75422256663 -2.15763842745\n",
      "\n",
      "num = \n",
      "304\n",
      "SENSOR 1 4.57357716297 -2.90716714991\n",
      "\n",
      "num = \n",
      "305\n",
      "SENSOR 2 2.06294912659 2.59325343834\n",
      "\n",
      "num = \n",
      "306\n",
      "SENSOR 3 1.67288678091 -0.569977333256\n",
      "\n",
      "num = \n",
      "307\n",
      "SENSOR 7 3.99139693975 -1.70109563201\n",
      "\n",
      "num = \n",
      "308\n",
      "ODOMETRY -0.000357584503237 0.0999979583461 0.000343433781639\n",
      "\n",
      "num = \n",
      "309\n",
      "SENSOR 8 4.72304180002 -2.152587981\n",
      "\n",
      "num = \n",
      "310\n",
      "SENSOR 1 5.0500335413 -2.8658344534\n",
      "\n",
      "num = \n",
      "311\n",
      "SENSOR 2 1.98255100087 2.63765385437\n",
      "\n",
      "num = \n",
      "312\n",
      "SENSOR 3 1.73494869541 -0.681218262697\n",
      "\n",
      "num = \n",
      "313\n",
      "SENSOR 7 3.99801441934 -1.82089872357\n",
      "\n",
      "num = \n",
      "314\n",
      "ODOMETRY 0.000620290476892 0.0999470003878 -0.000838335967095\n",
      "\n",
      "num = \n",
      "315\n",
      "SENSOR 8 4.82000162046 -2.17663416724\n",
      "\n",
      "num = \n",
      "316\n",
      "SENSOR 1 4.7896984766 -2.93673143552\n",
      "\n",
      "num = \n",
      "317\n",
      "SENSOR 2 2.09267316967 2.67055169125\n",
      "\n",
      "num = \n",
      "318\n",
      "SENSOR 3 1.66678325737 -0.602963490775\n",
      "\n",
      "num = \n",
      "319\n",
      "SENSOR 7 4.01771495745 -1.69028901209\n",
      "\n",
      "num = \n",
      "320\n",
      "ODOMETRY 0.000382389454005 0.100008694003 -0.000235027366354\n",
      "\n",
      "num = \n",
      "321\n",
      "SENSOR 8 5.04318864619 -2.22282624467\n",
      "\n",
      "num = \n",
      "322\n",
      "SENSOR 1 4.90043577351 -2.93806965482\n",
      "\n",
      "num = \n",
      "323\n",
      "SENSOR 2 2.07615512453 2.67131705355\n",
      "\n",
      "num = \n",
      "324\n",
      "SENSOR 3 1.31586087173 -0.745758611631\n",
      "\n",
      "num = \n",
      "325\n",
      "SENSOR 7 3.92899619206 -1.73714423279\n",
      "\n",
      "num = \n",
      "326\n",
      "ODOMETRY -1.84395846507e-05 0.100015474461 -0.000514385173899\n",
      "\n",
      "num = \n",
      "327\n",
      "SENSOR 8 4.98826017668 -2.27039501618\n",
      "\n",
      "num = \n",
      "328\n",
      "SENSOR 9 4.81047660567 -0.805804164487\n",
      "\n",
      "num = \n",
      "329\n",
      "SENSOR 2 2.22230602404 2.6041674324\n",
      "\n",
      "num = \n",
      "330\n",
      "SENSOR 3 1.48831597213 -0.723975926163\n",
      "\n",
      "num = \n",
      "331\n",
      "SENSOR 7 4.08621450402 -1.82319354899\n",
      "\n",
      "num = \n",
      "332\n",
      "ODOMETRY 3.57442872214e-05 0.099849482409 -0.00105747056724\n",
      "\n",
      "num = \n",
      "333\n",
      "SENSOR 8 5.24777410731 -2.22368070807\n",
      "\n",
      "num = \n",
      "334\n",
      "SENSOR 9 4.87521200347 -0.898436213614\n",
      "\n",
      "num = \n",
      "335\n",
      "SENSOR 2 2.55748708263 2.71176061758\n",
      "\n",
      "num = \n",
      "336\n",
      "SENSOR 3 1.2838992006 -0.801058095512\n",
      "\n",
      "num = \n",
      "337\n",
      "SENSOR 7 3.93963818013 -1.81428858108\n",
      "\n",
      "num = \n",
      "338\n",
      "ODOMETRY -0.000227849495201 0.100052037289 0.000638692661208\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "339\n",
      "SENSOR 9 4.77739612534 -0.858203342542\n",
      "\n",
      "num = \n",
      "340\n",
      "SENSOR 2 2.51769849113 2.67416607463\n",
      "\n",
      "num = \n",
      "341\n",
      "SENSOR 3 1.24645217892 -0.852893599077\n",
      "\n",
      "num = \n",
      "342\n",
      "SENSOR 7 4.03471989557 -1.8113886332\n",
      "\n",
      "num = \n",
      "343\n",
      "ODOMETRY -0.000159615464035 0.100138867779 -9.50566744297e-05\n",
      "\n",
      "num = \n",
      "344\n",
      "SENSOR 9 4.85310064919 -0.958324651792\n",
      "\n",
      "num = \n",
      "345\n",
      "SENSOR 2 2.41599610928 2.73803779326\n",
      "\n",
      "num = \n",
      "346\n",
      "SENSOR 3 1.1553906277 -0.952297527875\n",
      "\n",
      "num = \n",
      "347\n",
      "SENSOR 7 4.05847660943 -1.83829462387\n",
      "\n",
      "num = \n",
      "348\n",
      "ODOMETRY 0.000397083245112 0.0999345504925 -0.000473283143359\n",
      "\n",
      "num = \n",
      "349\n",
      "SENSOR 9 4.83134105102 -0.987132642593\n",
      "\n",
      "num = \n",
      "350\n",
      "SENSOR 2 2.66361378317 2.73601068382\n",
      "\n",
      "num = \n",
      "351\n",
      "SENSOR 3 1.18927270664 -0.98716043606\n",
      "\n",
      "num = \n",
      "352\n",
      "SENSOR 7 4.1162336909 -1.8197753718\n",
      "\n",
      "num = \n",
      "353\n",
      "ODOMETRY -0.000125470763969 0.0999261518626 -0.000151801883516\n",
      "\n",
      "num = \n",
      "354\n",
      "SENSOR 9 4.61875783758 -0.96518540751\n",
      "\n",
      "num = \n",
      "355\n",
      "SENSOR 2 2.62689728182 2.80385923962\n",
      "\n",
      "num = \n",
      "356\n",
      "SENSOR 3 1.11000285571 -1.04644745072\n",
      "\n",
      "num = \n",
      "357\n",
      "SENSOR 7 4.1856772061 -1.91465824865\n",
      "\n",
      "num = \n",
      "358\n",
      "ODOMETRY 0.00051674063446 0.099933808971 -0.000213359494977\n",
      "\n",
      "num = \n",
      "359\n",
      "SENSOR 9 4.5731217484 -0.933596753478\n",
      "\n",
      "num = \n",
      "360\n",
      "SENSOR 2 2.79358478206 2.72787132071\n",
      "\n",
      "num = \n",
      "361\n",
      "SENSOR 3 1.04564028404 -1.15145302954\n",
      "\n",
      "num = \n",
      "362\n",
      "SENSOR 7 4.20296979125 -1.95525531732\n",
      "\n",
      "num = \n",
      "363\n",
      "ODOMETRY -0.00971501482375 0.100264271897 -0.020113587118\n",
      "\n",
      "num = \n",
      "364\n",
      "SENSOR 9 4.50708334614 -0.981596648297\n",
      "\n",
      "num = \n",
      "365\n",
      "SENSOR 2 2.64093768252 2.82678324621\n",
      "\n",
      "num = \n",
      "366\n",
      "SENSOR 3 0.95745692747 -1.2021717145\n",
      "\n",
      "num = \n",
      "367\n",
      "SENSOR 7 4.0404572769 -1.91753735617\n",
      "\n",
      "num = \n",
      "368\n",
      "ODOMETRY -0.00979495269449 0.100207385382 -0.0207193396613\n",
      "\n",
      "num = \n",
      "369\n",
      "SENSOR 9 4.44133108151 -0.970900207211\n",
      "\n",
      "num = \n",
      "370\n",
      "SENSOR 2 2.84252616526 2.90235411969\n",
      "\n",
      "num = \n",
      "371\n",
      "SENSOR 3 0.820475495838 -1.26439366844\n",
      "\n",
      "num = \n",
      "372\n",
      "SENSOR 7 4.26066485438 -1.97960439924\n",
      "\n",
      "num = \n",
      "373\n",
      "ODOMETRY -0.00945840733493 0.0997416363672 -0.0192691302392\n",
      "\n",
      "num = \n",
      "374\n",
      "SENSOR 9 4.41905818722 -1.01347587135\n",
      "\n",
      "num = \n",
      "375\n",
      "SENSOR 2 3.25151909845 2.89909215002\n",
      "\n",
      "num = \n",
      "376\n",
      "SENSOR 3 0.824161542229 -1.26947648389\n",
      "\n",
      "num = \n",
      "377\n",
      "SENSOR 7 4.21167767586 -1.94951052841\n",
      "\n",
      "num = \n",
      "378\n",
      "ODOMETRY -0.0107896472019 0.0999622994726 -0.0203196033722\n",
      "\n",
      "num = \n",
      "379\n",
      "SENSOR 9 4.38016182003 -0.919127600281\n",
      "\n",
      "num = \n",
      "380\n",
      "SENSOR 2 3.25239531645 2.96551176917\n",
      "\n",
      "num = \n",
      "381\n",
      "SENSOR 3 0.799168421998 -1.34825194752\n",
      "\n",
      "num = \n",
      "382\n",
      "SENSOR 7 4.41379167865 -1.94690314498\n",
      "\n",
      "num = \n",
      "383\n",
      "ODOMETRY -0.0100929823651 0.0998830113911 -0.0214368042763\n",
      "\n",
      "num = \n",
      "384\n",
      "SENSOR 9 4.21366414637 -0.874094540558\n",
      "\n",
      "num = \n",
      "385\n",
      "SENSOR 2 3.25704262584 2.89943426572\n",
      "\n",
      "num = \n",
      "386\n",
      "SENSOR 3 0.933342221183 -1.458812128\n",
      "\n",
      "num = \n",
      "387\n",
      "SENSOR 7 4.25311990359 -1.8881350549\n",
      "\n",
      "num = \n",
      "388\n",
      "ODOMETRY -0.0102199225278 0.100122404777 -0.0195817297686\n",
      "\n",
      "num = \n",
      "389\n",
      "SENSOR 9 4.29400385507 -0.896845582069\n",
      "\n",
      "num = \n",
      "390\n",
      "SENSOR 2 3.36123238917 3.07001461157\n",
      "\n",
      "num = \n",
      "391\n",
      "SENSOR 3 0.883190136452 -1.55236329859\n",
      "\n",
      "num = \n",
      "392\n",
      "SENSOR 7 4.39258300277 -1.85095546334\n",
      "\n",
      "num = \n",
      "393\n",
      "ODOMETRY -0.0102103462979 0.100022996897 -0.0194894273573\n",
      "\n",
      "num = \n",
      "394\n",
      "SENSOR 9 4.29633583493 -0.887367583474\n",
      "\n",
      "num = \n",
      "395\n",
      "SENSOR 2 3.52280331378 3.04417535495\n",
      "\n",
      "num = \n",
      "396\n",
      "SENSOR 3 1.02605707606 -1.5599567465\n",
      "\n",
      "num = \n",
      "397\n",
      "SENSOR 7 4.51584958025 -1.90962202394\n",
      "\n",
      "num = \n",
      "398\n",
      "ODOMETRY -0.0101219143048 0.0999593379999 -0.01903292462\n",
      "\n",
      "num = \n",
      "399\n",
      "SENSOR 9 4.16209895112 -0.947187127915\n",
      "\n",
      "num = \n",
      "400\n",
      "SENSOR 2 3.71418266147 2.96127369837\n",
      "\n",
      "num = \n",
      "401\n",
      "SENSOR 3 0.814318982694 -1.74701297142\n",
      "\n",
      "num = \n",
      "402\n",
      "SENSOR 7 4.40269147314 -1.91371592888\n",
      "\n",
      "num = \n",
      "403\n",
      "ODOMETRY -0.0102675093098 0.0999663112719 -0.020828582237\n",
      "\n",
      "num = \n",
      "404\n",
      "SENSOR 9 4.21508985997 -0.919004105021\n",
      "\n",
      "num = \n",
      "405\n",
      "SENSOR 2 3.65228598194 3.13422359082\n",
      "\n",
      "num = \n",
      "406\n",
      "SENSOR 3 0.785942815706 -1.80341299282\n",
      "\n",
      "num = \n",
      "407\n",
      "SENSOR 7 4.4121500124 -1.81796805203\n",
      "\n",
      "num = \n",
      "408\n",
      "ODOMETRY -0.00993610685506 0.0998518398745 -0.0196774541201\n",
      "\n",
      "num = \n",
      "409\n",
      "SENSOR 9 4.04294692156 -0.861279885\n",
      "\n",
      "num = \n",
      "410\n",
      "SENSOR 2 3.62963253555 3.11270753834\n",
      "\n",
      "num = \n",
      "411\n",
      "SENSOR 3 0.764603294406 -1.85046986826\n",
      "\n",
      "num = \n",
      "412\n",
      "SENSOR 7 4.5150733283 -1.79594989537\n",
      "\n",
      "num = \n",
      "413\n",
      "ODOMETRY -0.00920022650555 0.0997422621128 -0.0205361764911\n",
      "\n",
      "num = \n",
      "414\n",
      "SENSOR 9 4.15239188263 -0.970342867078\n",
      "\n",
      "num = \n",
      "415\n",
      "SENSOR 2 4.03536781642 -3.18307097898\n",
      "\n",
      "num = \n",
      "416\n",
      "SENSOR 3 0.959547230588 -1.90274929341\n",
      "\n",
      "num = \n",
      "417\n",
      "SENSOR 7 4.62912917937 -1.84220062871\n",
      "\n",
      "num = \n",
      "418\n",
      "ODOMETRY -0.00942062964629 0.100105598827 -0.0201986285946\n",
      "\n",
      "num = \n",
      "419\n",
      "SENSOR 9 3.86218828017 -0.820203419523\n",
      "\n",
      "num = \n",
      "420\n",
      "SENSOR 2 3.98904457506 -3.1015168922\n",
      "\n",
      "num = \n",
      "421\n",
      "SENSOR 3 0.972317263121 -2.02451017468\n",
      "\n",
      "num = \n",
      "422\n",
      "SENSOR 7 4.759816508 -1.77763480945\n",
      "\n",
      "num = \n",
      "423\n",
      "ODOMETRY -0.0100879322846 0.100124216817 -0.0204597213095\n",
      "\n",
      "num = \n",
      "424\n",
      "SENSOR 9 3.84507226677 -0.756780522484\n",
      "\n",
      "num = \n",
      "425\n",
      "SENSOR 2 4.02861108492 -3.10602711471\n",
      "\n",
      "num = \n",
      "426\n",
      "SENSOR 3 0.864967710233 -2.11102791755\n",
      "\n",
      "num = \n",
      "427\n",
      "SENSOR 7 4.57459493047 -1.80826633165\n",
      "\n",
      "num = \n",
      "428\n",
      "ODOMETRY -0.0101517088617 0.100135474519 -0.0205790775163\n",
      "\n",
      "num = \n",
      "429\n",
      "SENSOR 9 3.72477683615 -0.806235518925\n",
      "\n",
      "num = \n",
      "430\n",
      "SENSOR 2 4.16243598106 -2.99518962392\n",
      "\n",
      "num = \n",
      "431\n",
      "SENSOR 3 1.04719137655 -2.03651068405\n",
      "\n",
      "num = \n",
      "432\n",
      "SENSOR 7 4.52321512866 -1.79913713944\n",
      "\n",
      "num = \n",
      "433\n",
      "ODOMETRY -0.00971823850713 0.0999199480028 -0.0204816547407\n",
      "\n",
      "num = \n",
      "434\n",
      "SENSOR 9 3.64162047434 -0.88616331853\n",
      "\n",
      "num = \n",
      "435\n",
      "SENSOR 2 4.36302387232 -2.92568022823\n",
      "\n",
      "num = \n",
      "436\n",
      "SENSOR 3 1.22928347043 -2.10617157821\n",
      "\n",
      "num = \n",
      "437\n",
      "SENSOR 7 4.62149400694 -1.70648061283\n",
      "\n",
      "num = \n",
      "438\n",
      "ODOMETRY -0.0111880765417 0.100054827041 -0.0203982555608\n",
      "\n",
      "num = \n",
      "439\n",
      "SENSOR 9 3.73629007345 -0.855429384037\n",
      "\n",
      "num = \n",
      "440\n",
      "SENSOR 2 4.48880762822 -2.98992498419\n",
      "\n",
      "num = \n",
      "441\n",
      "SENSOR 3 1.32740155875 -2.1557754481\n",
      "\n",
      "num = \n",
      "442\n",
      "SENSOR 7 4.7595820948 -1.73437714859\n",
      "\n",
      "num = \n",
      "443\n",
      "ODOMETRY -0.00973489400755 0.0999924383931 -0.0209377588456\n",
      "\n",
      "num = \n",
      "444\n",
      "SENSOR 9 3.77039951769 -0.771226097345\n",
      "\n",
      "num = \n",
      "445\n",
      "SENSOR 2 4.54478520448 -2.96315453347\n",
      "\n",
      "num = \n",
      "446\n",
      "SENSOR 3 1.18357886708 -2.28360538355\n",
      "\n",
      "num = \n",
      "447\n",
      "SENSOR 7 4.64536305531 -1.74239721557\n",
      "\n",
      "num = \n",
      "448\n",
      "ODOMETRY -0.0100121786852 0.10025678063 -0.0196394863452\n",
      "\n",
      "num = \n",
      "449\n",
      "SENSOR 9 3.73404973174 -0.756291343127\n",
      "\n",
      "num = \n",
      "450\n",
      "SENSOR 2 4.61556478289 -2.91192792603\n",
      "\n",
      "num = \n",
      "451\n",
      "SENSOR 3 1.43954214415 -2.31929975771\n",
      "\n",
      "num = \n",
      "452\n",
      "SENSOR 7 4.78353870157 -1.67530247364\n",
      "\n",
      "num = \n",
      "453\n",
      "ODOMETRY -0.0104058123165 0.0999078340161 -0.0209340715081\n",
      "\n",
      "num = \n",
      "454\n",
      "SENSOR 9 3.47519442671 -0.74040904798\n",
      "\n",
      "num = \n",
      "455\n",
      "SENSOR 2 4.65651656296 -2.79673717715\n",
      "\n",
      "num = \n",
      "456\n",
      "SENSOR 3 1.41028301965 -2.30057582506\n",
      "\n",
      "num = \n",
      "457\n",
      "SENSOR 7 4.61708819357 -1.7142056919\n",
      "\n",
      "num = \n",
      "458\n",
      "ODOMETRY -0.0101442422432 0.0998042353315 -0.0207318624199\n",
      "\n",
      "num = \n",
      "459\n",
      "SENSOR 9 3.42547727638 -0.810330212894\n",
      "\n",
      "num = \n",
      "460\n",
      "SENSOR 2 4.74768100721 -2.8865220224\n",
      "\n",
      "num = \n",
      "461\n",
      "SENSOR 3 1.45281583609 -2.34890487945\n",
      "\n",
      "num = \n",
      "462\n",
      "SENSOR 7 4.77378177865 -1.69555592571\n",
      "\n",
      "num = \n",
      "463\n",
      "ODOMETRY -0.0102211646023 0.0999251579643 -0.0207790757232\n",
      "\n",
      "num = \n",
      "464\n",
      "SENSOR 9 3.43224659745 -0.821374368952\n",
      "\n",
      "num = \n",
      "465\n",
      "SENSOR 2 4.80086183808 -2.86419776111\n",
      "\n",
      "num = \n",
      "466\n",
      "SENSOR 3 1.46573078577 -2.3325545795\n",
      "\n",
      "num = \n",
      "467\n",
      "SENSOR 7 4.72053144783 -1.71266326326\n",
      "\n",
      "num = \n",
      "468\n",
      "ODOMETRY -0.0102754252738 0.0999975530931 -0.0203595740683\n",
      "\n",
      "num = \n",
      "469\n",
      "SENSOR 9 3.29389498065 -0.783789486252\n",
      "\n",
      "num = \n",
      "470\n",
      "SENSOR 2 4.85229132571 -2.80515709507\n",
      "\n",
      "num = \n",
      "471\n",
      "SENSOR 3 1.51312022187 -2.43758325042\n",
      "\n",
      "num = \n",
      "472\n",
      "SENSOR 7 4.75783246842 -1.72532501206\n",
      "\n",
      "num = \n",
      "473\n",
      "ODOMETRY -0.0103809832051 0.0998620778632 -0.0208296162858\n",
      "\n",
      "num = \n",
      "474\n",
      "SENSOR 9 3.14745442326 -0.713780260596\n",
      "\n",
      "num = \n",
      "475\n",
      "SENSOR 3 1.66244648686 -2.32807661561\n",
      "\n",
      "num = \n",
      "476\n",
      "SENSOR 7 4.76953032246 -1.75137410971\n",
      "\n",
      "num = \n",
      "477\n",
      "ODOMETRY -0.00929254465495 0.100066485581 -0.0201838054256\n",
      "\n",
      "num = \n",
      "478\n",
      "SENSOR 9 3.12096302703 -0.743186941568\n",
      "\n",
      "num = \n",
      "479\n",
      "SENSOR 3 1.66093118311 -2.32042340287\n",
      "\n",
      "num = \n",
      "480\n",
      "SENSOR 7 4.74328322642 -1.70736335902\n",
      "\n",
      "num = \n",
      "481\n",
      "ODOMETRY -0.0105112165595 0.0999963617275 -0.019982049759\n",
      "\n",
      "num = \n",
      "482\n",
      "SENSOR 9 2.83281736762 -0.762352819884\n",
      "\n",
      "num = \n",
      "483\n",
      "SENSOR 3 1.98193438924 -2.39751311729\n",
      "\n",
      "num = \n",
      "484\n",
      "SENSOR 7 4.91772376321 -1.81704355771\n",
      "\n",
      "num = \n",
      "485\n",
      "ODOMETRY -0.00997178159358 0.10007277842 -0.0204165193727\n",
      "\n",
      "num = \n",
      "486\n",
      "SENSOR 9 3.13834733707 -0.772566714417\n",
      "\n",
      "num = \n",
      "487\n",
      "SENSOR 3 1.83487760385 -2.33603987057\n",
      "\n",
      "num = \n",
      "488\n",
      "SENSOR 7 4.83543172801 -1.71432653343\n",
      "\n",
      "num = \n",
      "489\n",
      "ODOMETRY -0.00997485488938 0.10008927649 -0.0205752160593\n",
      "\n",
      "num = \n",
      "490\n",
      "SENSOR 9 2.83670692168 -0.756396130009\n",
      "\n",
      "num = \n",
      "491\n",
      "SENSOR 3 2.01548451506 -2.38530065891\n",
      "\n",
      "num = \n",
      "492\n",
      "SENSOR 7 4.7278151721 -1.72434228152\n",
      "\n",
      "num = \n",
      "493\n",
      "ODOMETRY -0.00999956312656 0.0999843485035 -0.0203841266107\n",
      "\n",
      "num = \n",
      "494\n",
      "SENSOR 9 2.82178371405 -0.72337614438\n",
      "\n",
      "num = \n",
      "495\n",
      "SENSOR 3 2.13509987926 -2.41071162621\n",
      "\n",
      "num = \n",
      "496\n",
      "SENSOR 7 4.85076805645 -1.69252423587\n",
      "\n",
      "num = \n",
      "497\n",
      "ODOMETRY -0.00852336100511 0.0999751603682 -0.0211916944332\n",
      "\n",
      "num = \n",
      "498\n",
      "SENSOR 9 2.81781440496 -0.707830447583\n",
      "\n",
      "num = \n",
      "499\n",
      "SENSOR 3 2.15429524819 -2.33737596918\n",
      "\n",
      "num = \n",
      "500\n",
      "SENSOR 7 4.93819684908 -1.67303442489\n",
      "\n",
      "num = \n",
      "501\n",
      "ODOMETRY -0.00965027219075 0.100288805578 -0.0193228609635\n",
      "\n",
      "num = \n",
      "502\n",
      "SENSOR 9 2.70652259944 -0.770867163479\n",
      "\n",
      "num = \n",
      "503\n",
      "SENSOR 3 1.98532644731 -2.40121615474\n",
      "\n",
      "num = \n",
      "504\n",
      "SENSOR 7 4.85874459717 -1.60635832006\n",
      "\n",
      "num = \n",
      "505\n",
      "ODOMETRY -0.0102814831601 0.0999564906 -0.0192399073969\n",
      "\n",
      "num = \n",
      "506\n",
      "SENSOR 9 2.53658906194 -0.759239403864\n",
      "\n",
      "num = \n",
      "507\n",
      "SENSOR 3 2.53388129973 -2.38165614076\n",
      "\n",
      "num = \n",
      "508\n",
      "SENSOR 7 4.98552649704 -1.6218876007\n",
      "\n",
      "num = \n",
      "509\n",
      "ODOMETRY -0.0100748645886 0.100005491921 -0.019984859525\n",
      "\n",
      "num = \n",
      "510\n",
      "SENSOR 9 2.43367683943 -0.697255466686\n",
      "\n",
      "num = \n",
      "511\n",
      "SENSOR 3 2.39414891757 -2.41443846459\n",
      "\n",
      "num = \n",
      "512\n",
      "SENSOR 7 4.9834316653 -1.61655922477\n",
      "\n",
      "num = \n",
      "513\n",
      "ODOMETRY -0.00985490594572 0.0999352845265 -0.0202863994368\n",
      "\n",
      "num = \n",
      "514\n",
      "SENSOR 9 2.38853922706 -0.750617843431\n",
      "\n",
      "num = \n",
      "515\n",
      "SENSOR 3 2.34807142014 -2.40236329019\n",
      "\n",
      "num = \n",
      "516\n",
      "SENSOR 7 4.84956880083 -1.65706803563\n",
      "\n",
      "num = \n",
      "517\n",
      "ODOMETRY -0.00981497648521 0.10005706037 -0.0205293727414\n",
      "\n",
      "num = \n",
      "518\n",
      "SENSOR 9 2.30513859809 -0.713795376745\n",
      "\n",
      "num = \n",
      "519\n",
      "SENSOR 3 2.52885953187 -2.36395323664\n",
      "\n",
      "num = \n",
      "520\n",
      "SENSOR 7 4.80035289011 -1.62357491293\n",
      "\n",
      "num = \n",
      "521\n",
      "ODOMETRY -0.0101980896331 0.100218877764 -0.020478262674\n",
      "\n",
      "num = \n",
      "522\n",
      "SENSOR 9 2.30283082388 -0.715567562415\n",
      "\n",
      "num = \n",
      "523\n",
      "SENSOR 3 2.60815965834 -2.29118817018\n",
      "\n",
      "num = \n",
      "524\n",
      "SENSOR 7 4.98343250586 -1.6729452571\n",
      "\n",
      "num = \n",
      "525\n",
      "ODOMETRY -0.0101283711756 0.0998195862677 -0.0192700277528\n",
      "\n",
      "num = \n",
      "526\n",
      "SENSOR 9 2.13536202595 -0.71778534866\n",
      "\n",
      "num = \n",
      "527\n",
      "SENSOR 3 2.67992588614 -2.38908171914\n",
      "\n",
      "num = \n",
      "528\n",
      "SENSOR 7 4.91348563149 -1.63448801846\n",
      "\n",
      "num = \n",
      "529\n",
      "ODOMETRY -0.00889781821812 0.0999086470311 -0.0190099714897\n",
      "\n",
      "num = \n",
      "530\n",
      "SENSOR 9 2.16768481293 -0.656518867328\n",
      "\n",
      "num = \n",
      "531\n",
      "SENSOR 3 2.7491968181 -2.46802217665\n",
      "\n",
      "num = \n",
      "532\n",
      "SENSOR 7 5.00638906973 -1.65640324117\n",
      "\n",
      "num = \n",
      "533\n",
      "ODOMETRY -0.00927390477241 0.100009300402 -0.0188819052824\n",
      "\n",
      "num = \n",
      "534\n",
      "SENSOR 9 2.06036311226 -0.626109298885\n",
      "\n",
      "num = \n",
      "535\n",
      "SENSOR 3 2.77751099598 -2.43714785057\n",
      "\n",
      "num = \n",
      "536\n",
      "SENSOR 7 4.91592093285 -1.54197963648\n",
      "\n",
      "num = \n",
      "537\n",
      "ODOMETRY -0.00953762154818 0.100094963619 -0.0200631176614\n",
      "\n",
      "num = \n",
      "538\n",
      "SENSOR 9 2.04004989525 -0.661783908592\n",
      "\n",
      "num = \n",
      "539\n",
      "SENSOR 3 2.9149859567 -2.40295482006\n",
      "\n",
      "num = \n",
      "540\n",
      "SENSOR 7 4.8372688152 -1.56251629567\n",
      "\n",
      "num = \n",
      "541\n",
      "ODOMETRY -0.0101843489035 0.100170852856 -0.0201491819106\n",
      "\n",
      "num = \n",
      "542\n",
      "SENSOR 9 1.66733538754 -0.698581202368\n",
      "\n",
      "num = \n",
      "543\n",
      "SENSOR 3 2.9307627117 -2.38669029861\n",
      "\n",
      "num = \n",
      "544\n",
      "SENSOR 7 4.93201916584 -1.49123780717\n",
      "\n",
      "num = \n",
      "545\n",
      "ODOMETRY -0.00990916376395 0.0999830061546 -0.0196696291544\n",
      "\n",
      "num = \n",
      "546\n",
      "SENSOR 9 1.86806692543 -0.632285525018\n",
      "\n",
      "num = \n",
      "547\n",
      "SENSOR 3 3.07656599932 -2.30189734788\n",
      "\n",
      "num = \n",
      "548\n",
      "SENSOR 7 4.97729237349 -1.44254478025\n",
      "\n",
      "num = \n",
      "549\n",
      "ODOMETRY -0.00936318813765 0.100047562962 -0.0207712598577\n",
      "\n",
      "num = \n",
      "550\n",
      "SENSOR 9 1.86000913297 -0.769295117027\n",
      "\n",
      "num = \n",
      "551\n",
      "SENSOR 3 3.19327081586 -2.31845753548\n",
      "\n",
      "num = \n",
      "552\n",
      "SENSOR 7 4.91726327644 -1.50585217596\n",
      "\n",
      "num = \n",
      "553\n",
      "ODOMETRY -0.00962072976009 0.10003474407 -0.0201319397141\n",
      "\n",
      "num = \n",
      "554\n",
      "SENSOR 9 1.43446530858 -0.697594112069\n",
      "\n",
      "num = \n",
      "555\n",
      "SENSOR 3 3.13888154368 -2.35491864899\n",
      "\n",
      "num = \n",
      "556\n",
      "SENSOR 7 4.86163354258 -1.52745827549\n",
      "\n",
      "num = \n",
      "557\n",
      "ODOMETRY -0.0103917618082 0.100096110722 -0.0202924780282\n",
      "\n",
      "num = \n",
      "558\n",
      "SENSOR 9 1.5937891 -0.767018462963\n",
      "\n",
      "num = \n",
      "559\n",
      "SENSOR 3 3.03778930726 -2.37581878462\n",
      "\n",
      "num = \n",
      "560\n",
      "SENSOR 7 4.90982477845 -1.58323594734\n",
      "\n",
      "num = \n",
      "561\n",
      "ODOMETRY -0.0102274195246 0.0996530537132 -0.0197612833353\n",
      "\n",
      "num = \n",
      "562\n",
      "SENSOR 9 1.55697370557 -0.787251601032\n",
      "\n",
      "num = \n",
      "563\n",
      "SENSOR 3 3.33092903126 -2.36291746924\n",
      "\n",
      "num = \n",
      "564\n",
      "SENSOR 7 5.11027080973 -1.49005454493\n",
      "\n",
      "num = \n",
      "565\n",
      "ODOMETRY -0.0090319900384 0.10002522485 -0.0203647354664\n",
      "\n",
      "num = \n",
      "566\n",
      "SENSOR 9 1.27619923588 -0.681234912183\n",
      "\n",
      "num = \n",
      "567\n",
      "SENSOR 3 3.47097399843 -2.33744508902\n",
      "\n",
      "num = \n",
      "568\n",
      "SENSOR 7 4.86448662442 -1.43855505732\n",
      "\n",
      "num = \n",
      "569\n",
      "ODOMETRY -0.0101008198551 0.100056793796 -0.0202019103811\n",
      "\n",
      "num = \n",
      "570\n",
      "SENSOR 9 1.31009222501 -0.833503306646\n",
      "\n",
      "num = \n",
      "571\n",
      "SENSOR 3 3.50501745603 -2.25950372396\n",
      "\n",
      "num = \n",
      "572\n",
      "SENSOR 7 5.04320626284 -1.42786770625\n",
      "\n",
      "num = \n",
      "573\n",
      "ODOMETRY -0.0102569159023 0.100207516625 -0.0199451843648\n",
      "\n",
      "num = \n",
      "574\n",
      "SENSOR 9 1.39571281327 -0.801958198715\n",
      "\n",
      "num = \n",
      "575\n",
      "SENSOR 3 3.57526872507 -2.2334957241\n",
      "\n",
      "num = \n",
      "576\n",
      "SENSOR 7 4.91052249565 -1.46162122057\n",
      "\n",
      "num = \n",
      "577\n",
      "ODOMETRY -0.0103397707711 0.0998813934436 -0.0191999580024\n",
      "\n",
      "num = \n",
      "578\n",
      "SENSOR 9 1.19140221788 -0.86945582523\n",
      "\n",
      "num = \n",
      "579\n",
      "SENSOR 3 3.65459040438 -2.19794223401\n",
      "\n",
      "num = \n",
      "580\n",
      "SENSOR 7 4.91158134671 -1.47557273999\n",
      "\n",
      "num = \n",
      "581\n",
      "ODOMETRY -0.00982335856588 0.100220795869 -0.0197928788826\n",
      "\n",
      "num = \n",
      "582\n",
      "SENSOR 9 1.14672097564 -0.939720706666\n",
      "\n",
      "num = \n",
      "583\n",
      "SENSOR 3 3.67353602788 -2.2981427793\n",
      "\n",
      "num = \n",
      "584\n",
      "SENSOR 7 5.07088791168 -1.44755317677\n",
      "\n",
      "num = \n",
      "585\n",
      "ODOMETRY -0.010492637874 0.100078403812 -0.0202240532269\n",
      "\n",
      "num = \n",
      "586\n",
      "SENSOR 9 1.00797285498 -0.92105202352\n",
      "\n",
      "num = \n",
      "587\n",
      "SENSOR 3 3.80658727703 -2.26185172183\n",
      "\n",
      "num = \n",
      "588\n",
      "SENSOR 7 4.70899193533 -1.49470541964\n",
      "\n",
      "num = \n",
      "589\n",
      "ODOMETRY -0.000409685506265 0.100074100741 3.35434933874e-05\n",
      "\n",
      "num = \n",
      "590\n",
      "SENSOR 9 0.857547483906 -1.00030284767\n",
      "\n",
      "num = \n",
      "591\n",
      "SENSOR 3 3.63301222154 -2.30451383666\n",
      "\n",
      "num = \n",
      "592\n",
      "SENSOR 6 4.90713081255 -0.424618148952\n",
      "\n",
      "num = \n",
      "593\n",
      "SENSOR 7 4.87043730915 -1.51944450917\n",
      "\n",
      "num = \n",
      "594\n",
      "ODOMETRY -0.000384810922824 0.100071520774 -0.000435455866431\n",
      "\n",
      "num = \n",
      "595\n",
      "SENSOR 9 0.865178354478 -1.0946089333\n",
      "\n",
      "num = \n",
      "596\n",
      "SENSOR 3 3.87154824828 -2.28097908386\n",
      "\n",
      "num = \n",
      "597\n",
      "SENSOR 6 4.72745761299 -0.496893155239\n",
      "\n",
      "num = \n",
      "598\n",
      "SENSOR 7 4.68178027075 -1.51760631906\n",
      "\n",
      "num = \n",
      "599\n",
      "ODOMETRY 0.00138651101242 0.100079510814 -0.000438491227614\n",
      "\n",
      "num = \n",
      "600\n",
      "SENSOR 9 1.05193973633 -1.24556739994\n",
      "\n",
      "num = \n",
      "601\n",
      "SENSOR 3 3.88544422124 -2.3448780647\n",
      "\n",
      "num = \n",
      "602\n",
      "SENSOR 6 4.6615159534 -0.436869108029\n",
      "\n",
      "num = \n",
      "603\n",
      "SENSOR 7 4.91044475526 -1.53423162043\n",
      "\n",
      "num = \n",
      "604\n",
      "ODOMETRY 7.68654085475e-05 0.100064376896 -0.000347285122512\n",
      "\n",
      "num = \n",
      "605\n",
      "SENSOR 9 0.716009510292 -1.32231452602\n",
      "\n",
      "num = \n",
      "606\n",
      "SENSOR 3 4.05836894592 -2.31125693262\n",
      "\n",
      "num = \n",
      "607\n",
      "SENSOR 6 4.70020191847 -0.390682294868\n",
      "\n",
      "num = \n",
      "608\n",
      "SENSOR 7 4.86373148685 -1.56929948757\n",
      "\n",
      "num = \n",
      "609\n",
      "ODOMETRY -0.000366336199071 0.100085296763 0.000194856527543\n",
      "\n",
      "num = \n",
      "610\n",
      "SENSOR 9 0.718690525633 -1.44144427768\n",
      "\n",
      "num = \n",
      "611\n",
      "SENSOR 3 3.97174192778 -2.33012742735\n",
      "\n",
      "num = \n",
      "612\n",
      "SENSOR 6 4.51253709809 -0.491056378731\n",
      "\n",
      "num = \n",
      "613\n",
      "SENSOR 7 4.82580688187 -1.61311348835\n",
      "\n",
      "num = \n",
      "614\n",
      "ODOMETRY -0.000542691676545 0.100027219506 -0.000143634057834\n",
      "\n",
      "num = \n",
      "615\n",
      "SENSOR 9 0.852397954339 -1.52208071018\n",
      "\n",
      "num = \n",
      "616\n",
      "SENSOR 3 4.02133139088 -2.34538689579\n",
      "\n",
      "num = \n",
      "617\n",
      "SENSOR 6 4.39394312607 -0.503493763888\n",
      "\n",
      "num = \n",
      "618\n",
      "SENSOR 7 4.81123460265 -1.5816623073\n",
      "\n",
      "num = \n",
      "619\n",
      "ODOMETRY -0.000338327098837 0.0999475165511 -0.000696811302053\n",
      "\n",
      "num = \n",
      "620\n",
      "SENSOR 9 0.999182411112 -1.75140374932\n",
      "\n",
      "num = \n",
      "621\n",
      "SENSOR 3 4.38012001946 -2.42649949651\n",
      "\n",
      "num = \n",
      "622\n",
      "SENSOR 6 4.22920452869 -0.49919366625\n",
      "\n",
      "num = \n",
      "623\n",
      "SENSOR 7 4.7889807136 -1.60415661478\n",
      "\n",
      "num = \n",
      "624\n",
      "ODOMETRY -0.000475538118084 0.0999099187346 0.000232670934345\n",
      "\n",
      "num = \n",
      "625\n",
      "SENSOR 9 0.966348996295 -1.77294323319\n",
      "\n",
      "num = \n",
      "626\n",
      "SENSOR 3 4.34041261911 -2.45399927034\n",
      "\n",
      "num = \n",
      "627\n",
      "SENSOR 6 4.38277504531 -0.403080760952\n",
      "\n",
      "num = \n",
      "628\n",
      "SENSOR 7 4.89614467962 -1.57181840762\n",
      "\n",
      "num = \n",
      "629\n",
      "ODOMETRY 0.000223780781838 0.100011435985 -0.000354022886267\n",
      "\n",
      "num = \n",
      "630\n",
      "SENSOR 9 0.841981559631 -1.88779721029\n",
      "\n",
      "num = \n",
      "631\n",
      "SENSOR 3 4.16181256236 -2.41849210558\n",
      "\n",
      "num = \n",
      "632\n",
      "SENSOR 6 4.18464593756 -0.433336610889\n",
      "\n",
      "num = \n",
      "633\n",
      "SENSOR 7 4.92423463031 -1.59767873996\n",
      "\n",
      "num = \n",
      "634\n",
      "ODOMETRY -0.000411390693843 0.100015809683 -0.000502592596897\n",
      "\n",
      "num = \n",
      "635\n",
      "SENSOR 9 0.777235818058 -1.9338319829\n",
      "\n",
      "num = \n",
      "636\n",
      "SENSOR 3 4.48736232263 -2.45576116283\n",
      "\n",
      "num = \n",
      "637\n",
      "SENSOR 6 4.3310058626 -0.436710299463\n",
      "\n",
      "num = \n",
      "638\n",
      "SENSOR 7 4.83856749609 -1.72409921135\n",
      "\n",
      "num = \n",
      "639\n",
      "ODOMETRY -4.9832251043e-05 0.100000648532 -0.000385893755535\n",
      "\n",
      "num = \n",
      "640\n",
      "SENSOR 9 0.934556124574 -2.04988255746\n",
      "\n",
      "num = \n",
      "641\n",
      "SENSOR 3 4.61386942219 -2.40988018104\n",
      "\n",
      "num = \n",
      "642\n",
      "SENSOR 6 4.04270041132 -0.544707869243\n",
      "\n",
      "num = \n",
      "643\n",
      "SENSOR 7 4.82529117944 -1.72896557463\n",
      "\n",
      "num = \n",
      "644\n",
      "ODOMETRY 3.82607564561e-05 0.100041266732 -0.000669567327995\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "645\n",
      "SENSOR 9 0.976385093206 -2.21825060068\n",
      "\n",
      "num = \n",
      "646\n",
      "SENSOR 3 4.60087364024 -2.49833542789\n",
      "\n",
      "num = \n",
      "647\n",
      "SENSOR 6 3.85663249854 -0.473587765132\n",
      "\n",
      "num = \n",
      "648\n",
      "SENSOR 7 4.69832908576 -1.72444148595\n",
      "\n",
      "num = \n",
      "649\n",
      "ODOMETRY 0.000347169255971 0.100119005274 0.000472676508502\n",
      "\n",
      "num = \n",
      "650\n",
      "SENSOR 9 1.04654924484 -2.27392503998\n",
      "\n",
      "num = \n",
      "651\n",
      "SENSOR 3 4.51360132672 -2.52631209875\n",
      "\n",
      "num = \n",
      "652\n",
      "SENSOR 6 3.80488060575 -0.493098131544\n",
      "\n",
      "num = \n",
      "653\n",
      "SENSOR 7 4.93118784271 -1.73826666846\n",
      "\n",
      "num = \n",
      "654\n",
      "ODOMETRY 0.00062789372328 0.0998413041241 -0.000574518763401\n",
      "\n",
      "num = \n",
      "655\n",
      "SENSOR 9 1.28463314263 -2.34744957796\n",
      "\n",
      "num = \n",
      "656\n",
      "SENSOR 3 4.66418397437 -2.52120194012\n",
      "\n",
      "num = \n",
      "657\n",
      "SENSOR 6 3.69287759951 -0.60259976732\n",
      "\n",
      "num = \n",
      "658\n",
      "SENSOR 7 4.96873311865 -1.67093594865\n",
      "\n",
      "num = \n",
      "659\n",
      "ODOMETRY 4.45958922005e-05 0.099874515769 -1.00773737823e-05\n",
      "\n",
      "num = \n",
      "660\n",
      "SENSOR 9 1.34917868018 -2.3140195494\n",
      "\n",
      "num = \n",
      "661\n",
      "SENSOR 3 4.83734552807 -2.56309082268\n",
      "\n",
      "num = \n",
      "662\n",
      "SENSOR 6 3.85457392102 -0.550846124231\n",
      "\n",
      "num = \n",
      "663\n",
      "SENSOR 7 5.17069916757 -1.70445801834\n",
      "\n",
      "num = \n",
      "664\n",
      "ODOMETRY -0.000429849063258 0.100004466507 0.000109292387086\n",
      "\n",
      "num = \n",
      "665\n",
      "SENSOR 9 1.17748940032 -2.45206668831\n",
      "\n",
      "num = \n",
      "666\n",
      "SENSOR 3 4.92413203652 -2.50830983496\n",
      "\n",
      "num = \n",
      "667\n",
      "SENSOR 6 3.66624442055 -0.549792364014\n",
      "\n",
      "num = \n",
      "668\n",
      "SENSOR 7 5.05742255974 -1.82626136427\n",
      "\n",
      "num = \n",
      "669\n",
      "ODOMETRY 0.000288328519944 0.100035068194 -0.000375613142214\n",
      "\n",
      "num = \n",
      "670\n",
      "SENSOR 9 1.38120722588 -2.44006770578\n",
      "\n",
      "num = \n",
      "671\n",
      "SENSOR 3 4.97203634238 -2.52743825179\n",
      "\n",
      "num = \n",
      "672\n",
      "SENSOR 6 3.34161741639 -0.570724991728\n",
      "\n",
      "num = \n",
      "673\n",
      "SENSOR 7 4.99645813898 -1.8090953857\n",
      "\n",
      "num = \n",
      "674\n",
      "ODOMETRY -0.000196437843124 0.100011033773 -0.000844632707627\n",
      "\n",
      "num = \n",
      "675\n",
      "SENSOR 9 1.45528361765 -2.58420505596\n",
      "\n",
      "num = \n",
      "676\n",
      "SENSOR 6 3.43854840262 -0.664301994754\n",
      "\n",
      "num = \n",
      "677\n",
      "ODOMETRY -0.000165775966687 0.099853966532 -0.000227528816011\n",
      "\n",
      "num = \n",
      "678\n",
      "SENSOR 9 1.51231373679 -2.57014287703\n",
      "\n",
      "num = \n",
      "679\n",
      "SENSOR 6 3.34543642871 -0.515474866902\n",
      "\n",
      "num = \n",
      "680\n",
      "ODOMETRY -0.000320427748956 0.0999512716499 -2.01184480738e-05\n",
      "\n",
      "num = \n",
      "681\n",
      "SENSOR 9 1.5641691951 -2.51026283028\n",
      "\n",
      "num = \n",
      "682\n",
      "SENSOR 6 3.22435324765 -0.650504358949\n",
      "\n",
      "num = \n",
      "683\n",
      "ODOMETRY -0.0106019670238 0.100047923549 -0.0204366322955\n",
      "\n",
      "num = \n",
      "684\n",
      "SENSOR 9 1.59802617089 -2.65772209102\n",
      "\n",
      "num = \n",
      "685\n",
      "SENSOR 6 3.13292130388 -0.635247283074\n",
      "\n",
      "num = \n",
      "686\n",
      "ODOMETRY -0.00953419971679 0.0997364068422 -0.0212338845357\n",
      "\n",
      "num = \n",
      "687\n",
      "SENSOR 9 1.87635789925 -2.55029325464\n",
      "\n",
      "num = \n",
      "688\n",
      "SENSOR 6 3.19803180081 -0.61824718829\n",
      "\n",
      "num = \n",
      "689\n",
      "ODOMETRY -0.0107938955733 0.0999832759665 -0.019948987928\n",
      "\n",
      "num = \n",
      "690\n",
      "SENSOR 9 1.92709236774 -2.52235624435\n",
      "\n",
      "num = \n",
      "691\n",
      "SENSOR 6 3.17408419033 -0.635819077792\n",
      "\n",
      "num = \n",
      "692\n",
      "ODOMETRY -0.00944720798648 0.0997678997798 -0.0200192854442\n",
      "\n",
      "num = \n",
      "693\n",
      "SENSOR 9 2.08411384052 -2.53681319494\n",
      "\n",
      "num = \n",
      "694\n",
      "SENSOR 6 3.13689739397 -0.542348736916\n",
      "\n",
      "num = \n",
      "695\n",
      "ODOMETRY -0.00992182327545 0.0999905363988 -0.0204470597834\n",
      "\n",
      "num = \n",
      "696\n",
      "SENSOR 9 2.15082598548 -2.62559241561\n",
      "\n",
      "num = \n",
      "697\n",
      "SENSOR 6 2.88367328806 -0.521052906275\n",
      "\n",
      "num = \n",
      "698\n",
      "ODOMETRY -0.0107301411918 0.100054857862 -0.020207639661\n",
      "\n",
      "num = \n",
      "699\n",
      "SENSOR 9 2.22403769833 -2.57100159391\n",
      "\n",
      "num = \n",
      "700\n",
      "SENSOR 6 2.75363345764 -0.59479460609\n",
      "\n",
      "num = \n",
      "701\n",
      "ODOMETRY -0.00945082622088 0.100028990755 -0.0201896000612\n",
      "\n",
      "num = \n",
      "702\n",
      "SENSOR 9 2.09934424502 -2.62747192244\n",
      "\n",
      "num = \n",
      "703\n",
      "SENSOR 6 2.78287775806 -0.566042555815\n",
      "\n",
      "num = \n",
      "704\n",
      "ODOMETRY -0.0105102453842 0.100075137611 -0.0192110813252\n",
      "\n",
      "num = \n",
      "705\n",
      "SENSOR 9 2.338760347 -2.49919139221\n",
      "\n",
      "num = \n",
      "706\n",
      "SENSOR 6 2.56098570013 -0.578280755328\n",
      "\n",
      "num = \n",
      "707\n",
      "ODOMETRY -0.0101091445014 0.100056942868 -0.0202496882834\n",
      "\n",
      "num = \n",
      "708\n",
      "SENSOR 9 2.36371658684 -2.5456740025\n",
      "\n",
      "num = \n",
      "709\n",
      "SENSOR 6 2.48771994856 -0.552245239548\n",
      "\n",
      "num = \n",
      "710\n",
      "ODOMETRY -0.0105145489253 0.0999902746701 -0.0199986389786\n",
      "\n",
      "num = \n",
      "711\n",
      "SENSOR 9 2.30062771488 -2.4977087584\n",
      "\n",
      "num = \n",
      "712\n",
      "SENSOR 6 2.32217047438 -0.47768834283\n",
      "\n",
      "num = \n",
      "713\n",
      "ODOMETRY -0.00999561666508 0.100200722106 -0.0217016192012\n",
      "\n",
      "num = \n",
      "714\n",
      "SENSOR 9 2.69247943647 -2.5972744536\n",
      "\n",
      "num = \n",
      "715\n",
      "SENSOR 6 2.29849519971 -0.514286070901\n",
      "\n",
      "num = \n",
      "716\n",
      "ODOMETRY -0.010253509794 0.100305119325 -0.0200365313116\n",
      "\n",
      "num = \n",
      "717\n",
      "SENSOR 9 2.64982989713 -2.51698914589\n",
      "\n",
      "num = \n",
      "718\n",
      "SENSOR 6 2.33543764513 -0.534136974728\n",
      "\n",
      "num = \n",
      "719\n",
      "ODOMETRY -0.0100944966646 0.0999733101366 -0.0195079687298\n",
      "\n",
      "num = \n",
      "720\n",
      "SENSOR 9 2.65729068137 -2.4978812086\n",
      "\n",
      "num = \n",
      "721\n",
      "SENSOR 6 2.25095104345 -0.479210081653\n",
      "\n",
      "num = \n",
      "722\n",
      "ODOMETRY -0.0101074082596 0.100018773417 -0.0203868508626\n",
      "\n",
      "num = \n",
      "723\n",
      "SENSOR 9 2.76716235897 -2.47752317338\n",
      "\n",
      "num = \n",
      "724\n",
      "SENSOR 6 2.19825407926 -0.543379843286\n",
      "\n",
      "num = \n",
      "725\n",
      "ODOMETRY -0.0109280904874 0.0997445246948 -0.0208338946471\n",
      "\n",
      "num = \n",
      "726\n",
      "SENSOR 9 2.82396899412 -2.40545832185\n",
      "\n",
      "num = \n",
      "727\n",
      "SENSOR 6 2.08789424755 -0.434451182334\n",
      "\n",
      "num = \n",
      "728\n",
      "ODOMETRY -0.0107904208075 0.0999745501611 -0.0198457813547\n",
      "\n",
      "num = \n",
      "729\n",
      "SENSOR 9 3.02311813001 -2.51712047\n",
      "\n",
      "num = \n",
      "730\n",
      "SENSOR 6 1.66907092363 -0.416834784118\n",
      "\n",
      "num = \n",
      "731\n",
      "ODOMETRY -0.0103341393326 0.100132555892 -0.0180094112365\n",
      "\n",
      "num = \n",
      "732\n",
      "SENSOR 9 3.10995984838 -2.46182237293\n",
      "\n",
      "num = \n",
      "733\n",
      "SENSOR 5 4.84530946037 -0.68517513493\n",
      "\n",
      "num = \n",
      "734\n",
      "SENSOR 6 1.84740462156 -0.4478152927\n",
      "\n",
      "num = \n",
      "735\n",
      "ODOMETRY -0.0093722070032 0.0999685977667 -0.0205683448261\n",
      "\n",
      "num = \n",
      "736\n",
      "SENSOR 9 3.18055380157 -2.54857343644\n",
      "\n",
      "num = \n",
      "737\n",
      "SENSOR 5 4.85891633668 -0.668366244332\n",
      "\n",
      "num = \n",
      "738\n",
      "SENSOR 6 1.7842152426 -0.488946347808\n",
      "\n",
      "num = \n",
      "739\n",
      "ODOMETRY -0.00862092621645 0.0999477605626 -0.0201202350172\n",
      "\n",
      "num = \n",
      "740\n",
      "SENSOR 9 3.18570431347 -2.4008945257\n",
      "\n",
      "num = \n",
      "741\n",
      "SENSOR 5 4.82710109983 -0.641400105429\n",
      "\n",
      "num = \n",
      "742\n",
      "SENSOR 6 1.69943263258 -0.496469425827\n",
      "\n",
      "num = \n",
      "743\n",
      "ODOMETRY -0.00955765207066 0.0998476554338 -0.0193197473497\n",
      "\n",
      "num = \n",
      "744\n",
      "SENSOR 9 3.12127195258 -2.50049803812\n",
      "\n",
      "num = \n",
      "745\n",
      "SENSOR 5 4.6819032733 -0.546305815709\n",
      "\n",
      "num = \n",
      "746\n",
      "SENSOR 6 1.52508719469 -0.510818201368\n",
      "\n",
      "num = \n",
      "747\n",
      "ODOMETRY -0.0107711066964 0.0998042129527 -0.0201829660088\n",
      "\n",
      "num = \n",
      "748\n",
      "SENSOR 9 3.31709033712 -2.52196405386\n",
      "\n",
      "num = \n",
      "749\n",
      "SENSOR 5 4.52960727679 -0.622632344915\n",
      "\n",
      "num = \n",
      "750\n",
      "SENSOR 6 1.51555197181 -0.483700179613\n",
      "\n",
      "num = \n",
      "751\n",
      "ODOMETRY -0.0106692873467 0.0999978549067 -0.0205636007303\n",
      "\n",
      "num = \n",
      "752\n",
      "SENSOR 9 3.42310838562 -2.36206432124\n",
      "\n",
      "num = \n",
      "753\n",
      "SENSOR 5 4.53794828327 -0.53418400183\n",
      "\n",
      "num = \n",
      "754\n",
      "SENSOR 6 1.32931304322 -0.479413416386\n",
      "\n",
      "num = \n",
      "755\n",
      "ODOMETRY -0.00969674555054 0.0998579824931 -0.0192695637893\n",
      "\n",
      "num = \n",
      "756\n",
      "SENSOR 9 3.62733239979 -2.38022351036\n",
      "\n",
      "num = \n",
      "757\n",
      "SENSOR 5 4.37234874991 -0.563371428817\n",
      "\n",
      "num = \n",
      "758\n",
      "SENSOR 6 1.35890639216 -0.514900037794\n",
      "\n",
      "num = \n",
      "759\n",
      "ODOMETRY -0.00975243761561 0.100084972125 -0.0190526733648\n",
      "\n",
      "num = \n",
      "760\n",
      "SENSOR 9 3.43664804548 -2.47845457513\n",
      "\n",
      "num = \n",
      "761\n",
      "SENSOR 5 4.40241684214 -0.528424774865\n",
      "\n",
      "num = \n",
      "762\n",
      "SENSOR 6 1.17344456537 -0.549352353621\n",
      "\n",
      "num = \n",
      "763\n",
      "ODOMETRY -0.0105945853572 0.099872757633 -0.0202805754787\n",
      "\n",
      "num = \n",
      "764\n",
      "SENSOR 9 3.80772091573 -2.35409908276\n",
      "\n",
      "num = \n",
      "765\n",
      "SENSOR 5 4.46937021002 -0.511246038945\n",
      "\n",
      "num = \n",
      "766\n",
      "SENSOR 6 1.00904981044 -0.564861088059\n",
      "\n",
      "num = \n",
      "767\n",
      "ODOMETRY -0.00995270901101 0.0998530081873 -0.0196783662529\n",
      "\n",
      "num = \n",
      "768\n",
      "SENSOR 9 3.70815619706 -2.33452606743\n",
      "\n",
      "num = \n",
      "769\n",
      "SENSOR 5 4.19090804798 -0.41877794872\n",
      "\n",
      "num = \n",
      "770\n",
      "SENSOR 6 0.970116554577 -0.588881190644\n",
      "\n",
      "num = \n",
      "771\n",
      "ODOMETRY -0.0101020973665 0.0996707383779 -0.0208528795957\n",
      "\n",
      "num = \n",
      "772\n",
      "SENSOR 9 3.93638331662 -2.39850836779\n",
      "\n",
      "num = \n",
      "773\n",
      "SENSOR 5 4.04290760143 -0.509604308379\n",
      "\n",
      "num = \n",
      "774\n",
      "SENSOR 6 0.936990845675 -0.532229510423\n",
      "\n",
      "num = \n",
      "775\n",
      "ODOMETRY -0.00952254950204 0.100022587336 -0.0207743450449\n",
      "\n",
      "num = \n",
      "776\n",
      "SENSOR 9 3.89900313788 -2.29477366101\n",
      "\n",
      "num = \n",
      "777\n",
      "SENSOR 5 4.04895138463 -0.395215981692\n",
      "\n",
      "num = \n",
      "778\n",
      "SENSOR 6 0.812825950143 -0.453553346142\n",
      "\n",
      "num = \n",
      "779\n",
      "ODOMETRY -0.0102732233681 0.100133765982 -0.0196922288135\n",
      "\n",
      "num = \n",
      "780\n",
      "SENSOR 9 3.83279766773 -2.28070886372\n",
      "\n",
      "num = \n",
      "781\n",
      "SENSOR 5 3.97813591759 -0.429269072296\n",
      "\n",
      "num = \n",
      "782\n",
      "SENSOR 6 0.726811888974 -0.639211553277\n",
      "\n",
      "num = \n",
      "783\n",
      "ODOMETRY -0.0101417504752 0.100047146406 -0.0198861805906\n",
      "\n",
      "num = \n",
      "784\n",
      "SENSOR 9 4.04297272457 -2.31829642551\n",
      "\n",
      "num = \n",
      "785\n",
      "SENSOR 5 3.76824204267 -0.351220156141\n",
      "\n",
      "num = \n",
      "786\n",
      "SENSOR 6 0.84698052247 -0.696946949932\n",
      "\n",
      "num = \n",
      "787\n",
      "ODOMETRY -0.00976555837785 0.0999392737943 -0.0202600749042\n",
      "\n",
      "num = \n",
      "788\n",
      "SENSOR 9 3.94891278215 -2.28260593235\n",
      "\n",
      "num = \n",
      "789\n",
      "SENSOR 5 3.83680044028 -0.432572464986\n",
      "\n",
      "num = \n",
      "790\n",
      "SENSOR 6 0.395680522971 -0.655795908392\n",
      "\n",
      "num = \n",
      "791\n",
      "ODOMETRY -0.010049358612 0.0997832887798 -0.019839016952\n",
      "\n",
      "num = \n",
      "792\n",
      "SENSOR 9 3.98941732805 -2.3427601836\n",
      "\n",
      "num = \n",
      "793\n",
      "SENSOR 5 3.75748779569 -0.363585653423\n",
      "\n",
      "num = \n",
      "794\n",
      "SENSOR 6 0.419326712016 -0.767405627964\n",
      "\n",
      "num = \n",
      "795\n",
      "ODOMETRY -0.00990804911868 0.100063160013 -0.0199924290762\n",
      "\n",
      "num = \n",
      "796\n",
      "SENSOR 9 4.42622114477 -2.40283616777\n",
      "\n",
      "num = \n",
      "797\n",
      "SENSOR 5 3.59908359045 -0.401154962684\n",
      "\n",
      "num = \n",
      "798\n",
      "SENSOR 6 0.536372367698 -0.912498729021\n",
      "\n",
      "num = \n",
      "799\n",
      "ODOMETRY -0.0104411710858 0.0999733210449 -0.0202707137229\n",
      "\n",
      "num = \n",
      "800\n",
      "SENSOR 9 4.2655392474 -2.20254764796\n",
      "\n",
      "num = \n",
      "801\n",
      "SENSOR 5 3.5048753415 -0.324920330739\n",
      "\n",
      "num = \n",
      "802\n",
      "SENSOR 6 0.51173051641 -1.06886376241\n",
      "\n",
      "num = \n",
      "803\n",
      "ODOMETRY -0.00958796560624 0.0997012356948 -0.0190106918502\n",
      "\n",
      "num = \n",
      "804\n",
      "SENSOR 9 4.34567969478 -2.35381026389\n",
      "\n",
      "num = \n",
      "805\n",
      "SENSOR 5 3.30597120213 -0.412290519769\n",
      "\n",
      "num = \n",
      "806\n",
      "SENSOR 6 0.20325124874 -1.31986021336\n",
      "\n",
      "num = \n",
      "807\n",
      "ODOMETRY -0.00945910338498 0.0999239188151 -0.0214393518247\n",
      "\n",
      "num = \n",
      "808\n",
      "SENSOR 9 4.38166645197 -2.30347835146\n",
      "\n",
      "num = \n",
      "809\n",
      "SENSOR 5 3.22212240616 -0.28102949825\n",
      "\n",
      "num = \n",
      "810\n",
      "SENSOR 6 0.485918242069 -1.5413027657\n",
      "\n",
      "num = \n",
      "811\n",
      "ODOMETRY -0.00936872176157 0.100063167686 -0.0195376694399\n",
      "\n",
      "num = \n",
      "812\n",
      "SENSOR 9 4.48649572512 -2.24697957965\n",
      "\n",
      "num = \n",
      "813\n",
      "SENSOR 5 3.34522913193 -0.234888669301\n",
      "\n",
      "num = \n",
      "814\n",
      "SENSOR 6 0.500504821212 -1.84549274519\n",
      "\n",
      "num = \n",
      "815\n",
      "ODOMETRY -0.00924626532071 0.100289629903 -0.0204452803265\n",
      "\n",
      "num = \n",
      "816\n",
      "SENSOR 9 4.38285686125 -2.31796805291\n",
      "\n",
      "num = \n",
      "817\n",
      "SENSOR 5 3.2253313986 -0.336497877248\n",
      "\n",
      "num = \n",
      "818\n",
      "SENSOR 6 0.439532705962 -1.90081031321\n",
      "\n",
      "num = \n",
      "819\n",
      "ODOMETRY -0.01000714381 0.100038563302 -0.019511177285\n",
      "\n",
      "num = \n",
      "820\n",
      "SENSOR 9 4.55722929609 -2.24131015351\n",
      "\n",
      "num = \n",
      "821\n",
      "SENSOR 5 2.9839122976 -0.197934642549\n",
      "\n",
      "num = \n",
      "822\n",
      "SENSOR 6 0.574357838755 -2.17478748907\n",
      "\n",
      "num = \n",
      "823\n",
      "ODOMETRY -0.00944955204624 0.10018930828 -0.0190846444645\n",
      "\n",
      "num = \n",
      "824\n",
      "SENSOR 9 4.65611466523 -2.15413569161\n",
      "\n",
      "num = \n",
      "825\n",
      "SENSOR 5 2.74522288695 -0.143269371669\n",
      "\n",
      "num = \n",
      "826\n",
      "SENSOR 6 0.360293528261 -2.29140075438\n",
      "\n",
      "num = \n",
      "827\n",
      "ODOMETRY -0.00989104084324 0.0999598344613 -0.0188963355752\n",
      "\n",
      "num = \n",
      "828\n",
      "SENSOR 9 4.67549235193 -2.2547342678\n",
      "\n",
      "num = \n",
      "829\n",
      "SENSOR 5 2.71660050275 -0.224341183559\n",
      "\n",
      "num = \n",
      "830\n",
      "SENSOR 6 0.430936386021 -2.38808484232\n",
      "\n",
      "num = \n",
      "831\n",
      "ODOMETRY -0.00939876434182 0.0999176579476 -0.0204354275234\n",
      "\n",
      "num = \n",
      "832\n",
      "SENSOR 9 4.7295769119 -2.24776588052\n",
      "\n",
      "num = \n",
      "833\n",
      "SENSOR 5 2.8209588612 -0.184612197348\n",
      "\n",
      "num = \n",
      "834\n",
      "SENSOR 6 0.678975349504 -2.39838829822\n",
      "\n",
      "num = \n",
      "835\n",
      "ODOMETRY -0.00984260589012 0.0999049920184 -0.0204207671229\n",
      "\n",
      "num = \n",
      "836\n",
      "SENSOR 9 4.869136985 -2.22984653418\n",
      "\n",
      "num = \n",
      "837\n",
      "SENSOR 5 2.53472429795 -0.0979438474725\n",
      "\n",
      "num = \n",
      "838\n",
      "SENSOR 6 0.724677994461 -2.47062007294\n",
      "\n",
      "num = \n",
      "839\n",
      "ODOMETRY -0.0106220820001 0.0999476383789 -0.018951076035\n",
      "\n",
      "num = \n",
      "840\n",
      "SENSOR 9 4.83972948952 -2.2017291975\n",
      "\n",
      "num = \n",
      "841\n",
      "SENSOR 5 2.41938626893 -0.0722766789081\n",
      "\n",
      "num = \n",
      "842\n",
      "SENSOR 6 0.896483545718 -2.50133568907\n",
      "\n",
      "num = \n",
      "843\n",
      "ODOMETRY -0.00894165782255 0.0998037580051 -0.0205485067311\n",
      "\n",
      "num = \n",
      "844\n",
      "SENSOR 9 4.79978469006 -2.0771865507\n",
      "\n",
      "num = \n",
      "845\n",
      "SENSOR 5 2.44031736377 -0.0451271960902\n",
      "\n",
      "num = \n",
      "846\n",
      "SENSOR 6 0.892706720609 -2.53051031897\n",
      "\n",
      "num = \n",
      "847\n",
      "ODOMETRY -0.00957465262851 0.0998659692323 -0.0205930146175\n",
      "\n",
      "num = \n",
      "848\n",
      "SENSOR 9 4.96198478686 -2.1451611355\n",
      "\n",
      "num = \n",
      "849\n",
      "SENSOR 5 2.47950904793 -0.0215694258122\n",
      "\n",
      "num = \n",
      "850\n",
      "SENSOR 6 1.10799154666 -2.54106679813\n",
      "\n",
      "num = \n",
      "851\n",
      "ODOMETRY -0.0100525455681 0.100337319608 -0.0205497252019\n",
      "\n",
      "num = \n",
      "852\n",
      "SENSOR 5 2.26894342284 -0.0418532807452\n",
      "\n",
      "num = \n",
      "853\n",
      "SENSOR 6 1.0656324647 -2.61108195515\n",
      "\n",
      "num = \n",
      "854\n",
      "ODOMETRY -0.00943091267911 0.100196441839 -0.0204474262183\n",
      "\n",
      "num = \n",
      "855\n",
      "SENSOR 5 1.9900024526 -0.0587920688072\n",
      "\n",
      "num = \n",
      "856\n",
      "SENSOR 6 1.25664957166 -2.54040872029\n",
      "\n",
      "num = \n",
      "857\n",
      "ODOMETRY -0.0106675969581 0.100069072476 -0.0198298367329\n",
      "\n",
      "num = \n",
      "858\n",
      "SENSOR 5 2.06876472771 0.0347353602678\n",
      "\n",
      "num = \n",
      "859\n",
      "SENSOR 6 1.30479718818 -2.63957544017\n",
      "\n",
      "num = \n",
      "860\n",
      "ODOMETRY -0.0109501726772 0.099656204344 -0.0197480529382\n",
      "\n",
      "num = \n",
      "861\n",
      "SENSOR 4 4.84903369134 -0.25676242683\n",
      "\n",
      "num = \n",
      "862\n",
      "SENSOR 5 1.95099797266 0.0604548438905\n",
      "\n",
      "num = \n",
      "863\n",
      "SENSOR 6 1.41276478857 -2.60038303448\n",
      "\n",
      "num = \n",
      "864\n",
      "ODOMETRY -0.0100590106676 0.10023557322 -0.0195720926297\n",
      "\n",
      "num = \n",
      "865\n",
      "SENSOR 4 4.78300024277 -0.184611496152\n",
      "\n",
      "num = \n",
      "866\n",
      "SENSOR 5 1.61457584315 0.0300012667976\n",
      "\n",
      "num = \n",
      "867\n",
      "SENSOR 6 1.33645903435 -2.65659019827\n",
      "\n",
      "num = \n",
      "868\n",
      "ODOMETRY 0.00032218948586 0.0998511803331 0.0003472668121\n",
      "\n",
      "num = \n",
      "869\n",
      "SENSOR 4 4.61809557694 -0.235944730585\n",
      "\n",
      "num = \n",
      "870\n",
      "SENSOR 5 1.67346172256 0.0980438083583\n",
      "\n",
      "num = \n",
      "871\n",
      "SENSOR 6 1.56764537893 -2.65826963558\n",
      "\n",
      "num = \n",
      "872\n",
      "ODOMETRY 0.000579000360448 0.100089931179 -0.000362694330933\n",
      "\n",
      "num = \n",
      "873\n",
      "SENSOR 4 4.61773693027 -0.233895064666\n",
      "\n",
      "num = \n",
      "874\n",
      "SENSOR 5 1.66054407293 0.136649840485\n",
      "\n",
      "num = \n",
      "875\n",
      "SENSOR 6 1.46408042321 -2.68709021799\n",
      "\n",
      "num = \n",
      "876\n",
      "ODOMETRY -0.00044089900061 0.0999353750811 -1.34281290757e-05\n",
      "\n",
      "num = \n",
      "877\n",
      "SENSOR 4 4.55480271918 -0.2913216657\n",
      "\n",
      "num = \n",
      "878\n",
      "SENSOR 5 1.50100988483 0.0822156400295\n",
      "\n",
      "num = \n",
      "879\n",
      "SENSOR 6 1.65425176466 -2.6843419931\n",
      "\n",
      "num = \n",
      "880\n",
      "SENSOR 7 5.04255929223 -1.4135258173\n",
      "\n",
      "num = \n",
      "881\n",
      "ODOMETRY 0.000562113155451 0.100147932789 -0.000142894973449\n",
      "\n",
      "num = \n",
      "882\n",
      "SENSOR 4 4.64418998385 -0.161422957882\n",
      "\n",
      "num = \n",
      "883\n",
      "SENSOR 5 1.29375310016 0.123150135765\n",
      "\n",
      "num = \n",
      "884\n",
      "SENSOR 6 1.77502447071 -2.80258703114\n",
      "\n",
      "num = \n",
      "885\n",
      "SENSOR 7 5.01260808028 -1.45772167011\n",
      "\n",
      "num = \n",
      "886\n",
      "ODOMETRY -0.000226406399014 0.0999909834075 0.000810043165928\n",
      "\n",
      "num = \n",
      "887\n",
      "SENSOR 4 4.39606723221 -0.276669971263\n",
      "\n",
      "num = \n",
      "888\n",
      "SENSOR 5 1.13430771004 -0.00962817617611\n",
      "\n",
      "num = \n",
      "889\n",
      "SENSOR 6 2.02721972825 -2.77395719223\n",
      "\n",
      "num = \n",
      "890\n",
      "SENSOR 7 5.01335185372 -1.38085423243\n",
      "\n",
      "num = \n",
      "891\n",
      "ODOMETRY -0.000121224257881 0.100003849424 -0.000161822234677\n",
      "\n",
      "num = \n",
      "892\n",
      "SENSOR 4 4.21055927653 -0.283655804258\n",
      "\n",
      "num = \n",
      "893\n",
      "SENSOR 5 1.22819950733 0.226306705038\n",
      "\n",
      "num = \n",
      "894\n",
      "SENSOR 6 2.06103141149 -2.83245000998\n",
      "\n",
      "num = \n",
      "895\n",
      "SENSOR 7 4.98179803298 -1.28932243622\n",
      "\n",
      "num = \n",
      "896\n",
      "ODOMETRY -0.000110963942142 0.100018911481 -0.000521393454382\n",
      "\n",
      "num = \n",
      "897\n",
      "SENSOR 4 4.17076128421 -0.255955030358\n",
      "\n",
      "num = \n",
      "898\n",
      "SENSOR 5 1.05714325417 0.21158075001\n",
      "\n",
      "num = \n",
      "899\n",
      "SENSOR 6 2.05801724245 -2.81179075528\n",
      "\n",
      "num = \n",
      "900\n",
      "SENSOR 7 4.86315022266 -1.34949497751\n",
      "\n",
      "num = \n",
      "901\n",
      "ODOMETRY 0.000581673049888 0.0999432751717 0.00043900315162\n",
      "\n",
      "num = \n",
      "902\n",
      "SENSOR 4 4.13152266208 -0.243662897715\n",
      "\n",
      "num = \n",
      "903\n",
      "SENSOR 5 1.05442924658 0.0889859691676\n",
      "\n",
      "num = \n",
      "904\n",
      "SENSOR 6 2.35710025687 -2.82505124292\n",
      "\n",
      "num = \n",
      "905\n",
      "SENSOR 7 4.95998239128 -1.37541098571\n",
      "\n",
      "num = \n",
      "906\n",
      "ODOMETRY -0.000643014075002 0.100046662876 -0.00030597139561\n",
      "\n",
      "num = \n",
      "907\n",
      "SENSOR 4 3.82306989928 -0.212313306236\n",
      "\n",
      "num = \n",
      "908\n",
      "SENSOR 5 0.968305923429 0.23047472434\n",
      "\n",
      "num = \n",
      "909\n",
      "SENSOR 6 2.40627348405 -2.87087242804\n",
      "\n",
      "num = \n",
      "910\n",
      "SENSOR 7 5.034472876 -1.44522298097\n",
      "\n",
      "num = \n",
      "911\n",
      "ODOMETRY 0.000980857762591 0.100010654979 -0.000435006611772\n",
      "\n",
      "num = \n",
      "912\n",
      "SENSOR 4 3.83451139593 -0.378927701924\n",
      "\n",
      "num = \n",
      "913\n",
      "SENSOR 5 0.795567173767 0.257190386142\n",
      "\n",
      "num = \n",
      "914\n",
      "SENSOR 6 2.21053118472 -2.90470139087\n",
      "\n",
      "num = \n",
      "915\n",
      "SENSOR 7 4.7748297548 -1.54836287468\n",
      "\n",
      "num = \n",
      "916\n",
      "ODOMETRY -0.000609935109904 0.0998848209643 0.000251078083048\n",
      "\n",
      "num = \n",
      "917\n",
      "SENSOR 4 3.88367571854 -0.326496453728\n",
      "\n",
      "num = \n",
      "918\n",
      "SENSOR 5 0.891277185527 0.280971348661\n",
      "\n",
      "num = \n",
      "919\n",
      "SENSOR 6 2.10999985974 -2.83168707465\n",
      "\n",
      "num = \n",
      "920\n",
      "SENSOR 7 5.05295173972 -1.45560081735\n",
      "\n",
      "num = \n",
      "921\n",
      "ODOMETRY -0.000179010067717 0.0999576062388 -0.000710880596247\n",
      "\n",
      "num = \n",
      "922\n",
      "SENSOR 4 3.58613036757 -0.288767287002\n",
      "\n",
      "num = \n",
      "923\n",
      "SENSOR 5 0.460401798273 0.26480686479\n",
      "\n",
      "num = \n",
      "924\n",
      "SENSOR 6 2.51029465932 -2.79685383309\n",
      "\n",
      "num = \n",
      "925\n",
      "SENSOR 7 4.67903549074 -1.4966253335\n",
      "\n",
      "num = \n",
      "926\n",
      "ODOMETRY 1.98323569268e-05 0.100165214307 -0.000147014308583\n",
      "\n",
      "num = \n",
      "927\n",
      "SENSOR 4 3.44937417841 -0.286872026407\n",
      "\n",
      "num = \n",
      "928\n",
      "SENSOR 5 0.568629217557 0.3018303773\n",
      "\n",
      "num = \n",
      "929\n",
      "SENSOR 6 2.64470410896 -2.83673237411\n",
      "\n",
      "num = \n",
      "930\n",
      "SENSOR 7 4.95577954911 -1.60816903758\n",
      "\n",
      "num = \n",
      "931\n",
      "ODOMETRY -6.60853800921e-05 0.0999758509541 -0.000131327398541\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "932\n",
      "SENSOR 4 3.52642298111 -0.249961503109\n",
      "\n",
      "num = \n",
      "933\n",
      "SENSOR 5 0.307880568887 0.424643724602\n",
      "\n",
      "num = \n",
      "934\n",
      "SENSOR 6 2.9217035269 -2.82543551976\n",
      "\n",
      "num = \n",
      "935\n",
      "SENSOR 7 4.94775483194 -1.64578415856\n",
      "\n",
      "num = \n",
      "936\n",
      "ODOMETRY -0.000759236874724 0.0999210873642 0.000484464597198\n",
      "\n",
      "num = \n",
      "937\n",
      "SENSOR 4 3.21537221573 -0.253278443559\n",
      "\n",
      "num = \n",
      "938\n",
      "SENSOR 5 0.343826600928 0.517766599935\n",
      "\n",
      "num = \n",
      "939\n",
      "SENSOR 6 2.96764243571 -2.91298298802\n",
      "\n",
      "num = \n",
      "940\n",
      "SENSOR 7 4.82932486066 -1.61976963793\n",
      "\n",
      "num = \n",
      "941\n",
      "ODOMETRY -0.000932651491047 0.0999034758275 -0.000522681021362\n",
      "\n",
      "num = \n",
      "942\n",
      "SENSOR 4 3.34936193071 -0.304748576464\n",
      "\n",
      "num = \n",
      "943\n",
      "SENSOR 5 0.343347061969 0.659117686955\n",
      "\n",
      "num = \n",
      "944\n",
      "SENSOR 6 2.92855535028 -2.93282234469\n",
      "\n",
      "num = \n",
      "945\n",
      "SENSOR 7 4.96462452817 -1.57447287405\n",
      "\n",
      "num = \n",
      "946\n",
      "ODOMETRY -0.000512470689375 0.100057311486 -0.000223205440965\n",
      "\n",
      "num = \n",
      "947\n",
      "SENSOR 4 3.15778244056 -0.292102213421\n",
      "\n",
      "num = \n",
      "948\n",
      "SENSOR 5 0.141707586712 1.03014356599\n",
      "\n",
      "num = \n",
      "949\n",
      "SENSOR 6 3.04256842701 -2.97112353332\n",
      "\n",
      "num = \n",
      "950\n",
      "SENSOR 7 4.88037499079 -1.5496709461\n",
      "\n",
      "num = \n",
      "951\n",
      "ODOMETRY 0.000238123279006 0.100087562421 -0.000865450974989\n",
      "\n",
      "num = \n",
      "952\n",
      "SENSOR 4 2.96773449222 -0.400216479435\n",
      "\n",
      "num = \n",
      "953\n",
      "SENSOR 5 0.166308403676 1.68239382754\n",
      "\n",
      "num = \n",
      "954\n",
      "SENSOR 6 3.2230949285 -2.84004575595\n",
      "\n",
      "num = \n",
      "955\n",
      "SENSOR 7 4.91301700642 -1.67498948311\n",
      "\n",
      "num = \n",
      "956\n",
      "ODOMETRY -3.76056555742e-05 0.100065617658 -4.08741242394e-05\n",
      "\n",
      "num = \n",
      "957\n",
      "SENSOR 4 3.03622795588 -0.3620980622\n",
      "\n",
      "num = \n",
      "958\n",
      "SENSOR 5 0.0739583240574 2.14869048053\n",
      "\n",
      "num = \n",
      "959\n",
      "SENSOR 6 3.17408809462 -2.89186031506\n",
      "\n",
      "num = \n",
      "960\n",
      "SENSOR 7 4.82002295209 -1.68843402387\n",
      "\n",
      "num = \n",
      "961\n",
      "ODOMETRY 9.89402028077e-05 0.100031416967 0.000622005123179\n",
      "\n",
      "num = \n",
      "962\n",
      "SENSOR 4 2.95157073999 -0.298610621477\n",
      "\n",
      "num = \n",
      "963\n",
      "SENSOR 5 0.346488097492 2.53355576934\n",
      "\n",
      "num = \n",
      "964\n",
      "SENSOR 6 3.33016113401 -2.94286515757\n",
      "\n",
      "num = \n",
      "965\n",
      "SENSOR 7 4.69924250353 -1.63435353961\n",
      "\n",
      "num = \n",
      "966\n",
      "ODOMETRY -0.000614027545778 0.0998786193061 0.000335491924434\n",
      "\n",
      "num = \n",
      "967\n",
      "SENSOR 4 2.65038997064 -0.385126318151\n",
      "\n",
      "num = \n",
      "968\n",
      "SENSOR 5 0.475971024403 2.72737519418\n",
      "\n",
      "num = \n",
      "969\n",
      "SENSOR 6 3.28812237005 -2.94355501192\n",
      "\n",
      "num = \n",
      "970\n",
      "SENSOR 7 5.00297279413 -1.698122639\n",
      "\n",
      "num = \n",
      "971\n",
      "ODOMETRY 0.000585614314283 0.100042839545 -0.000255406282724\n",
      "\n",
      "num = \n",
      "972\n",
      "SENSOR 4 2.79626548779 -0.410138412521\n",
      "\n",
      "num = \n",
      "973\n",
      "SENSOR 5 0.445022945829 2.75937150553\n",
      "\n",
      "num = \n",
      "974\n",
      "SENSOR 6 3.5871783697 -2.9914922394\n",
      "\n",
      "num = \n",
      "975\n",
      "SENSOR 7 4.93493808652 -1.67217695255\n",
      "\n",
      "num = \n",
      "976\n",
      "ODOMETRY 0.000817797256546 0.10004345351 -0.000487946838883\n",
      "\n",
      "num = \n",
      "977\n",
      "SENSOR 4 2.60262150979 -0.352966199072\n",
      "\n",
      "num = \n",
      "978\n",
      "SENSOR 5 0.424676452945 2.88901052149\n",
      "\n",
      "num = \n",
      "979\n",
      "SENSOR 6 3.59691006575 -2.90660639627\n",
      "\n",
      "num = \n",
      "980\n",
      "SENSOR 7 5.01623167981 -1.69282038613\n",
      "\n",
      "num = \n",
      "981\n",
      "ODOMETRY -0.00016985459687 0.100166813627 -0.000416138794345\n",
      "\n",
      "num = \n",
      "982\n",
      "SENSOR 4 2.46722391333 -0.358689330939\n",
      "\n",
      "num = \n",
      "983\n",
      "SENSOR 5 0.728410082203 2.92696771892\n",
      "\n",
      "num = \n",
      "984\n",
      "SENSOR 6 3.69931602325 -3.05769449119\n",
      "\n",
      "num = \n",
      "985\n",
      "SENSOR 7 4.90911588997 -1.77993287749\n",
      "\n",
      "num = \n",
      "986\n",
      "ODOMETRY -0.000740161239631 0.099946466571 -0.000579137321138\n",
      "\n",
      "num = \n",
      "987\n",
      "SENSOR 4 2.50405584523 -0.404329629294\n",
      "\n",
      "num = \n",
      "988\n",
      "SENSOR 5 0.864756251687 2.99635813382\n",
      "\n",
      "num = \n",
      "989\n",
      "SENSOR 6 3.694743825 -2.9873286948\n",
      "\n",
      "num = \n",
      "990\n",
      "SENSOR 7 5.15715332497 -1.79515477029\n",
      "\n",
      "num = \n",
      "991\n",
      "ODOMETRY -0.000437083188435 0.0999808804556 0.000890801419272\n",
      "\n",
      "num = \n",
      "992\n",
      "SENSOR 4 2.3572469846 -0.389096966534\n",
      "\n",
      "num = \n",
      "993\n",
      "SENSOR 5 0.690146888284 3.02349390737\n",
      "\n",
      "num = \n",
      "994\n",
      "SENSOR 6 3.82334501138 -2.94734888733\n",
      "\n",
      "num = \n",
      "995\n",
      "SENSOR 7 5.08073719006 -1.96855887202\n",
      "\n",
      "num = \n",
      "996\n",
      "ODOMETRY -0.000874321925873 0.0999458696968 8.56945566271e-05\n",
      "\n",
      "num = \n",
      "997\n",
      "SENSOR 4 2.39888918079 -0.447117217511\n",
      "\n",
      "num = \n",
      "998\n",
      "SENSOR 5 0.86023668679 2.97547735845\n",
      "\n",
      "num = \n",
      "999\n",
      "SENSOR 6 4.02081163778 -3.00390373732\n",
      "\n",
      "num = \n",
      "1000\n",
      "SENSOR 7 4.94627758776 -1.84427858261\n",
      "\n",
      "num = \n",
      "1001\n",
      "ODOMETRY 0.000722779780641 0.0999986517393 0.00100112905585\n",
      "\n",
      "num = \n",
      "1002\n",
      "SENSOR 4 2.01316130595 -0.546108056049\n",
      "\n",
      "num = \n",
      "1003\n",
      "SENSOR 5 1.11128398567 2.98869875224\n",
      "\n",
      "num = \n",
      "1004\n",
      "SENSOR 6 4.02424492244 -3.018021057\n",
      "\n",
      "num = \n",
      "1005\n",
      "ODOMETRY 0.000377322274251 0.100032482955 -0.00100476153\n",
      "\n",
      "num = \n",
      "1006\n",
      "SENSOR 8 5.01132216348 -1.53027093874\n",
      "\n",
      "num = \n",
      "1007\n",
      "SENSOR 4 2.03598667275 -0.476272706599\n",
      "\n",
      "num = \n",
      "1008\n",
      "SENSOR 5 1.09095914672 2.96118594496\n",
      "\n",
      "num = \n",
      "1009\n",
      "SENSOR 6 4.3717601905 -2.98400041644\n",
      "\n",
      "num = \n",
      "1010\n",
      "ODOMETRY 0.000103285068718 0.099844928892 -0.000212903744611\n",
      "\n",
      "num = \n",
      "1011\n",
      "SENSOR 8 5.17695382649 -1.35967510436\n",
      "\n",
      "num = \n",
      "1012\n",
      "SENSOR 4 1.91464611544 -0.600068436416\n",
      "\n",
      "num = \n",
      "1013\n",
      "SENSOR 5 1.08900775511 3.08373128697\n",
      "\n",
      "num = \n",
      "1014\n",
      "SENSOR 6 4.19316351805 -2.91766656154\n",
      "\n",
      "num = \n",
      "1015\n",
      "ODOMETRY -0.000570983954104 0.0998006835355 -0.000393736445336\n",
      "\n",
      "num = \n",
      "1016\n",
      "SENSOR 8 5.15080883731 -1.48740727836\n",
      "\n",
      "num = \n",
      "1017\n",
      "SENSOR 4 2.02497851696 -0.578411591445\n",
      "\n",
      "num = \n",
      "1018\n",
      "SENSOR 5 1.30252982062 3.01039498199\n",
      "\n",
      "num = \n",
      "1019\n",
      "SENSOR 6 4.43300767063 -3.01734145055\n",
      "\n",
      "num = \n",
      "1020\n",
      "ODOMETRY -2.79671436544e-05 0.0998387645732 -0.000172575912285\n",
      "\n",
      "num = \n",
      "1021\n",
      "SENSOR 8 5.05417653953 -1.55508198493\n",
      "\n",
      "num = \n",
      "1022\n",
      "SENSOR 4 1.81998768919 -0.589913446142\n",
      "\n",
      "num = \n",
      "1023\n",
      "SENSOR 5 1.4171179651 3.01420890049\n",
      "\n",
      "num = \n",
      "1024\n",
      "SENSOR 6 4.39733320483 -3.03987545128\n",
      "\n",
      "num = \n",
      "1025\n",
      "ODOMETRY 0.000154785369827 0.100049969349 -6.59255211347e-05\n",
      "\n",
      "num = \n",
      "1026\n",
      "SENSOR 8 4.7709666279 -1.56083794768\n",
      "\n",
      "num = \n",
      "1027\n",
      "SENSOR 4 1.80337424176 -0.593466054092\n",
      "\n",
      "num = \n",
      "1028\n",
      "SENSOR 5 1.41925272588 2.99769789771\n",
      "\n",
      "num = \n",
      "1029\n",
      "SENSOR 6 4.67820931238 -3.01711900396\n",
      "\n",
      "num = \n",
      "1030\n",
      "ODOMETRY 2.9493271041e-06 0.100159646483 -0.000173111161273\n",
      "\n",
      "num = \n",
      "1031\n",
      "SENSOR 8 4.84159660561 -1.54918018097\n",
      "\n",
      "num = \n",
      "1032\n",
      "SENSOR 4 1.82853556343 -0.569756852067\n",
      "\n",
      "num = \n",
      "1033\n",
      "SENSOR 5 1.71577232664 3.0165812116\n",
      "\n",
      "num = \n",
      "1034\n",
      "SENSOR 6 4.79685312377 -2.9847854511\n",
      "\n",
      "num = \n",
      "1035\n",
      "ODOMETRY 0.000221347429842 0.0999932542251 4.61710003609e-07\n",
      "\n",
      "num = \n",
      "1036\n",
      "SENSOR 8 5.11162860306 -1.61584624651\n",
      "\n",
      "num = \n",
      "1037\n",
      "SENSOR 4 1.5265973046 -0.698443125143\n",
      "\n",
      "num = \n",
      "1038\n",
      "SENSOR 5 1.87975210097 3.07441562447\n",
      "\n",
      "num = \n",
      "1039\n",
      "SENSOR 6 4.79042617381 -2.99754572527\n",
      "\n",
      "num = \n",
      "1040\n",
      "ODOMETRY -0.000405236126401 0.0999594867741 0.000478836098344\n",
      "\n",
      "num = \n",
      "1041\n",
      "SENSOR 8 4.95247394004 -1.64180502137\n",
      "\n",
      "num = \n",
      "1042\n",
      "SENSOR 4 1.40458146476 -0.739963772181\n",
      "\n",
      "num = \n",
      "1043\n",
      "SENSOR 5 1.69547184588 3.05159115769\n",
      "\n",
      "num = \n",
      "1044\n",
      "SENSOR 6 5.00699834265 -2.93022199182\n",
      "\n",
      "num = \n",
      "1045\n",
      "ODOMETRY -0.000129778290186 0.100097526781 -0.000617912497951\n",
      "\n",
      "num = \n",
      "1046\n",
      "SENSOR 8 4.84392396805 -1.66080039076\n",
      "\n",
      "num = \n",
      "1047\n",
      "SENSOR 4 1.5250332195 -0.80762237269\n",
      "\n",
      "num = \n",
      "1048\n",
      "SENSOR 5 1.90559694082 3.01771398812\n",
      "\n",
      "num = \n",
      "1049\n",
      "ODOMETRY 0.000804014964526 0.0999935926395 -0.000596752473398\n",
      "\n",
      "num = \n",
      "1050\n",
      "SENSOR 8 5.03816901895 -1.6392643647\n",
      "\n",
      "num = \n",
      "1051\n",
      "SENSOR 4 1.33648084058 -0.923159854907\n",
      "\n",
      "num = \n",
      "1052\n",
      "SENSOR 5 2.0728823718 3.07145005502\n",
      "\n",
      "num = \n",
      "1053\n",
      "ODOMETRY 0.000519512157444 0.100005601916 -0.000442481296122\n",
      "\n",
      "num = \n",
      "1054\n",
      "SENSOR 8 5.19392104898 -1.63366696299\n",
      "\n",
      "num = \n",
      "1055\n",
      "SENSOR 4 1.25390352011 -0.917688809139\n",
      "\n",
      "num = \n",
      "1056\n",
      "SENSOR 5 2.0259117092 3.08680953208\n",
      "\n",
      "num = \n",
      "1057\n",
      "ODOMETRY 0.000518545149269 0.100106672256 -0.000680085566896\n",
      "\n",
      "num = \n",
      "1058\n",
      "SENSOR 8 5.29401573737 -1.73879394236\n",
      "\n",
      "num = \n",
      "1059\n",
      "SENSOR 4 1.25455552507 -0.947615371233\n",
      "\n",
      "num = \n",
      "1060\n",
      "SENSOR 5 2.26095034783 3.08398466845\n",
      "\n",
      "num = \n",
      "1061\n",
      "ODOMETRY 0.0003357688657 0.100163222892 0.000110244551625\n",
      "\n",
      "num = \n",
      "1062\n",
      "SENSOR 4 1.18312614702 -0.960995111536\n",
      "\n",
      "num = \n",
      "1063\n",
      "SENSOR 5 2.26763043052 3.06934406894\n",
      "\n",
      "num = \n",
      "1064\n",
      "ODOMETRY 0.000430850653941 0.0998367411175 0.000835973060685\n",
      "\n",
      "num = \n",
      "1065\n",
      "SENSOR 4 1.06923121207 -1.14245049279\n",
      "\n",
      "num = \n",
      "1066\n",
      "SENSOR 5 2.33774634921 3.00551613523\n",
      "\n",
      "num = \n",
      "1067\n",
      "ODOMETRY 0.000489529512024 0.100012584977 -0.000263665335503\n",
      "\n",
      "num = \n",
      "1068\n",
      "SENSOR 4 1.2373128062 -1.07140205445\n",
      "\n",
      "num = \n",
      "1069\n",
      "SENSOR 5 2.49745639729 3.08271863901\n",
      "\n",
      "num = \n",
      "1070\n",
      "ODOMETRY -0.000589244263489 0.0999165477319 -9.5595714624e-05\n",
      "\n",
      "num = \n",
      "1071\n",
      "SENSOR 4 0.968959950322 -1.26337247618\n",
      "\n",
      "num = \n",
      "1072\n",
      "SENSOR 5 2.62041754054 3.01523208133\n",
      "\n",
      "num = \n",
      "1073\n",
      "ODOMETRY -0.000178313151141 0.0998288421603 0.000563850386206\n",
      "\n",
      "num = \n",
      "1074\n",
      "SENSOR 4 0.973229245782 -1.35029523152\n",
      "\n",
      "num = \n",
      "1075\n",
      "SENSOR 5 2.66844887 3.16511831978\n",
      "\n",
      "num = \n",
      "1076\n",
      "ODOMETRY 6.62697092569e-05 0.0999660081459 -0.000849667064106\n",
      "\n",
      "num = \n",
      "1077\n",
      "SENSOR 4 1.04401463963 -1.42097694493\n",
      "\n",
      "num = \n",
      "1078\n",
      "SENSOR 5 2.90415604808 3.11236112414\n",
      "\n",
      "num = \n",
      "1079\n",
      "ODOMETRY 1.76914660159e-05 0.0999563005623 -0.00022885927661\n",
      "\n",
      "num = \n",
      "1080\n",
      "SENSOR 4 1.29437510247 -1.5289011353\n",
      "\n",
      "num = \n",
      "1081\n",
      "SENSOR 5 2.86396714602 3.08794930644\n",
      "\n",
      "num = \n",
      "1082\n",
      "ODOMETRY -8.02534406911e-05 0.10005961832 0.000126344672006\n",
      "\n",
      "num = \n",
      "1083\n",
      "SENSOR 4 0.992465959838 -1.72689703438\n",
      "\n",
      "num = \n",
      "1084\n",
      "SENSOR 5 3.08803485591 3.09714739683\n",
      "\n",
      "num = \n",
      "1085\n",
      "ODOMETRY -0.000662008997776 0.100086753897 0.000952775856129\n",
      "\n",
      "num = \n",
      "1086\n",
      "SENSOR 4 1.19052341306 -1.75400630169\n",
      "\n",
      "num = \n",
      "1087\n",
      "SENSOR 5 2.99736224351 3.15818817489\n",
      "\n",
      "num = \n",
      "1088\n",
      "ODOMETRY 0.000245798218798 0.100099488833 -0.000116288884125\n",
      "\n",
      "num = \n",
      "1089\n",
      "SENSOR 4 1.26027041169 -1.8362468384\n",
      "\n",
      "num = \n",
      "1090\n",
      "SENSOR 5 3.26078579751 3.06249765301\n",
      "\n",
      "num = \n",
      "1091\n",
      "ODOMETRY -0.00033066993293 0.10003421658 -0.202502535572\n",
      "\n",
      "num = \n",
      "1092\n",
      "SENSOR 4 1.08653704795 -1.65436051584\n",
      "\n",
      "num = \n",
      "1093\n",
      "SENSOR 5 3.30638523314 -3.02907186109\n",
      "\n",
      "num = \n",
      "1094\n",
      "ODOMETRY -0.00075296627474 0.100052859928 -0.20001891421\n",
      "\n",
      "num = \n",
      "1095\n",
      "SENSOR 4 1.00516039982 -1.57517898237\n",
      "\n",
      "num = \n",
      "1096\n",
      "SENSOR 5 3.40635747101 -2.78095552683\n",
      "\n",
      "num = \n",
      "1097\n",
      "ODOMETRY 0.000501575370796 0.0998696800146 -0.199776317342\n",
      "\n",
      "num = \n",
      "1098\n",
      "SENSOR 4 1.30078775238 -1.48379307405\n",
      "\n",
      "num = \n",
      "1099\n",
      "SENSOR 5 3.58906657882 -2.58732029875\n",
      "\n",
      "num = \n",
      "1100\n",
      "ODOMETRY 0.00103777344155 0.100244656587 -0.199153835376\n",
      "\n",
      "num = \n",
      "1101\n",
      "SENSOR 4 1.10268089092 -1.33538019579\n",
      "\n",
      "num = \n",
      "1102\n",
      "SENSOR 5 3.63795196178 -2.43550574418\n",
      "\n",
      "num = \n",
      "1103\n",
      "ODOMETRY 0.000583926909874 0.0999196567154 -0.201308212751\n",
      "\n",
      "num = \n",
      "1104\n",
      "SENSOR 4 0.852015029986 -1.23189302192\n",
      "\n",
      "num = \n",
      "1105\n",
      "SENSOR 5 3.49341886213 -2.13489304804\n",
      "\n",
      "num = \n",
      "1106\n",
      "ODOMETRY -0.000702643132925 0.0998534882331 -0.199839163491\n",
      "\n",
      "num = \n",
      "1107\n",
      "SENSOR 4 1.09049968489 -1.18367693384\n",
      "\n",
      "num = \n",
      "1108\n",
      "SENSOR 5 3.70974881309 -2.08550945479\n",
      "\n",
      "num = \n",
      "1109\n",
      "ODOMETRY 0.00080685758902 0.0999827967374 -0.20187053928\n",
      "\n",
      "num = \n",
      "1110\n",
      "SENSOR 4 0.985595018522 -1.026631531\n",
      "\n",
      "num = \n",
      "1111\n",
      "SENSOR 5 3.79448985354 -1.87589673757\n",
      "\n",
      "num = \n",
      "1112\n",
      "ODOMETRY 0.000449461350091 0.0997289080576 -0.200478965583\n",
      "\n",
      "num = \n",
      "1113\n",
      "SENSOR 8 4.88387824366 -0.437902554008\n",
      "\n",
      "num = \n",
      "1114\n",
      "SENSOR 4 0.966528654972 -1.01253901348\n",
      "\n",
      "num = \n",
      "1115\n",
      "SENSOR 5 3.78046518483 -1.66844353581\n",
      "\n",
      "num = \n",
      "1116\n",
      "ODOMETRY -0.000301789696019 0.0999700743532 -0.0492710535856\n",
      "\n",
      "num = \n",
      "1117\n",
      "SENSOR 8 4.81134234525 -0.431537430157\n",
      "\n",
      "num = \n",
      "1118\n",
      "SENSOR 4 0.966134452834 -1.02130491029\n",
      "\n",
      "num = \n",
      "1119\n",
      "SENSOR 5 3.9232853476 -1.59781660554\n",
      "\n",
      "num = \n",
      "1120\n",
      "ODOMETRY -0.000414497573217 0.100011669694 0.000415877323683\n",
      "\n",
      "num = \n",
      "1121\n",
      "SENSOR 8 4.81561768132 -0.408368753456\n",
      "\n",
      "num = \n",
      "1122\n",
      "SENSOR 4 0.997563887482 -1.00808040996\n",
      "\n",
      "num = \n",
      "1123\n",
      "SENSOR 5 4.09903612696 -1.70829343966\n",
      "\n",
      "num = \n",
      "1124\n",
      "ODOMETRY -0.000759856533389 0.100030188988 2.25987579258e-05\n",
      "\n",
      "num = \n",
      "1125\n",
      "SENSOR 8 4.77967072204 -0.373187510037\n",
      "\n",
      "num = \n",
      "1126\n",
      "SENSOR 4 0.609158909746 -1.21111883929\n",
      "\n",
      "num = \n",
      "1127\n",
      "SENSOR 5 3.78000240925 -1.65403284021\n",
      "\n",
      "num = \n",
      "1128\n",
      "ODOMETRY 0.000704420580316 0.100169184112 -0.000101490126114\n",
      "\n",
      "num = \n",
      "1129\n",
      "SENSOR 8 4.59679993159 -0.378838534461\n",
      "\n",
      "num = \n",
      "1130\n",
      "SENSOR 4 0.790242431879 -1.31685583208\n",
      "\n",
      "num = \n",
      "1131\n",
      "SENSOR 5 3.98771440777 -1.83020211246\n",
      "\n",
      "num = \n",
      "1132\n",
      "ODOMETRY 0.000181557542154 0.100069708857 1.42478443593e-05\n",
      "\n",
      "num = \n",
      "1133\n",
      "SENSOR 8 4.56778014001 -0.36613383574\n",
      "\n",
      "num = \n",
      "1134\n",
      "SENSOR 4 0.87510561166 -1.44831905134\n",
      "\n",
      "num = \n",
      "1135\n",
      "SENSOR 5 3.87525047323 -1.69256375124\n",
      "\n",
      "num = \n",
      "1136\n",
      "ODOMETRY -0.000777139765299 0.1001417134 -0.00079200434962\n",
      "\n",
      "num = \n",
      "1137\n",
      "SENSOR 8 4.19719632604 -0.261534202769\n",
      "\n",
      "num = \n",
      "1138\n",
      "SENSOR 4 0.858714246901 -1.53468371952\n",
      "\n",
      "num = \n",
      "1139\n",
      "SENSOR 5 3.88133145769 -1.75822599281\n",
      "\n",
      "num = \n",
      "1140\n",
      "ODOMETRY 0.000360097094215 0.099919858615 -0.000121148783857\n",
      "\n",
      "num = \n",
      "1141\n",
      "SENSOR 8 4.50715584911 -0.257455481657\n",
      "\n",
      "num = \n",
      "1142\n",
      "SENSOR 4 0.787839207734 -1.58174432401\n",
      "\n",
      "num = \n",
      "1143\n",
      "SENSOR 5 4.12358900842 -1.77519503753\n",
      "\n",
      "num = \n",
      "1144\n",
      "ODOMETRY -0.000601647256999 0.0999647688218 -0.000411683851064\n",
      "\n",
      "num = \n",
      "1145\n",
      "SENSOR 8 4.22862787626 -0.44728691843\n",
      "\n",
      "num = \n",
      "1146\n",
      "SENSOR 4 0.932444153153 -1.83107179516\n",
      "\n",
      "num = \n",
      "1147\n",
      "SENSOR 5 3.91727595377 -1.93801251626\n",
      "\n",
      "num = \n",
      "1148\n",
      "ODOMETRY 4.90470373133e-05 0.100023238224 -0.000456455642778\n",
      "\n",
      "num = \n",
      "1149\n",
      "SENSOR 8 4.11192345096 -0.406862494981\n",
      "\n",
      "num = \n",
      "1150\n",
      "SENSOR 4 0.891217535437 -1.8607564518\n",
      "\n",
      "num = \n",
      "1151\n",
      "SENSOR 5 3.98253276681 -1.89291512866\n",
      "\n",
      "num = \n",
      "1152\n",
      "ODOMETRY 0.000785549997395 0.0999799616059 -0.000330360071553\n",
      "\n",
      "num = \n",
      "1153\n",
      "SENSOR 8 3.9289851575 -0.449194984839\n",
      "\n",
      "num = \n",
      "1154\n",
      "SENSOR 4 1.00167156057 -2.01967696204\n",
      "\n",
      "num = \n",
      "1155\n",
      "SENSOR 5 4.14363178156 -1.87819047788\n",
      "\n",
      "num = \n",
      "1156\n",
      "ODOMETRY -6.72413622959e-05 0.0999083237113 -0.000170062936099\n",
      "\n",
      "num = \n",
      "1157\n",
      "SENSOR 8 3.95153552594 -0.509158125128\n",
      "\n",
      "num = \n",
      "1158\n",
      "SENSOR 4 0.821664421208 -2.09663665678\n",
      "\n",
      "num = \n",
      "1159\n",
      "SENSOR 5 4.16031964143 -1.96049724379\n",
      "\n",
      "num = \n",
      "1160\n",
      "ODOMETRY 9.25859288234e-05 0.100001045345 0.000410994946873\n",
      "\n",
      "num = \n",
      "1161\n",
      "SENSOR 8 4.00269128543 -0.502870036672\n",
      "\n",
      "num = \n",
      "1162\n",
      "SENSOR 4 0.918246651355 -2.15061774972\n",
      "\n",
      "num = \n",
      "1163\n",
      "SENSOR 5 4.18294453461 -1.98228526459\n",
      "\n",
      "num = \n",
      "1164\n",
      "ODOMETRY -0.0002943371593 0.100037928614 -0.000456088383145\n",
      "\n",
      "num = \n",
      "1165\n",
      "SENSOR 8 3.79290718386 -0.417157050609\n",
      "\n",
      "num = \n",
      "1166\n",
      "SENSOR 4 1.02284237301 -2.15575466276\n",
      "\n",
      "num = \n",
      "1167\n",
      "SENSOR 5 4.08283726349 -1.97294438441\n",
      "\n",
      "num = \n",
      "1168\n",
      "ODOMETRY 0.000940263528964 0.0999674482045 0.000501767783166\n",
      "\n",
      "num = \n",
      "1169\n",
      "SENSOR 8 3.88138515918 -0.514811538337\n",
      "\n",
      "num = \n",
      "1170\n",
      "SENSOR 4 1.00490629589 -2.35600588873\n",
      "\n",
      "num = \n",
      "1171\n",
      "SENSOR 5 4.18955189506 -1.95466742279\n",
      "\n",
      "num = \n",
      "1172\n",
      "SENSOR 7 4.98499643512 -0.760610149068\n",
      "\n",
      "num = \n",
      "1173\n",
      "ODOMETRY -0.000152778980638 0.0999999474003 0.00132375693796\n",
      "\n",
      "num = \n",
      "1174\n",
      "SENSOR 8 3.56945668288 -0.534221926119\n",
      "\n",
      "num = \n",
      "1175\n",
      "SENSOR 4 1.20354433787 -2.4127474104\n",
      "\n",
      "num = \n",
      "1176\n",
      "SENSOR 5 4.22957670694 -2.09874712758\n",
      "\n",
      "num = \n",
      "1177\n",
      "SENSOR 7 4.99776806826 -0.890795466541\n",
      "\n",
      "num = \n",
      "1178\n",
      "ODOMETRY 0.00035756875864 0.0999491733674 -4.5966767141e-05\n",
      "\n",
      "num = \n",
      "1179\n",
      "SENSOR 8 3.36658801475 -0.485774717208\n",
      "\n",
      "num = \n",
      "1180\n",
      "SENSOR 4 1.25530485362 -2.40777577181\n",
      "\n",
      "num = \n",
      "1181\n",
      "SENSOR 5 4.19578088512 -2.13354293921\n",
      "\n",
      "num = \n",
      "1182\n",
      "SENSOR 7 4.61744207403 -0.961305296424\n",
      "\n",
      "num = \n",
      "1183\n",
      "ODOMETRY -0.000284518151215 0.099906976938 0.00078841137723\n",
      "\n",
      "num = \n",
      "1184\n",
      "SENSOR 8 3.60894625765 -0.50632839355\n",
      "\n",
      "num = \n",
      "1185\n",
      "SENSOR 4 1.34186357812 -2.52872581674\n",
      "\n",
      "num = \n",
      "1186\n",
      "SENSOR 5 4.23360437477 -2.13313777171\n",
      "\n",
      "num = \n",
      "1187\n",
      "SENSOR 7 4.91039126956 -0.875796833263\n",
      "\n",
      "num = \n",
      "1188\n",
      "ODOMETRY 0.000606393069801 0.100233353139 0.000881680707527\n",
      "\n",
      "num = \n",
      "1189\n",
      "SENSOR 8 3.46127890783 -0.565370507185\n",
      "\n",
      "num = \n",
      "1190\n",
      "SENSOR 4 1.41736771362 -2.57107109822\n",
      "\n",
      "num = \n",
      "1191\n",
      "SENSOR 5 4.26754732102 -2.04820737799\n",
      "\n",
      "num = \n",
      "1192\n",
      "SENSOR 7 4.63176475722 -0.925353424147\n",
      "\n",
      "num = \n",
      "1193\n",
      "ODOMETRY -9.95037351493e-05 0.100057160996 5.1179037987e-05\n",
      "\n",
      "num = \n",
      "1194\n",
      "SENSOR 8 3.31021687755 -0.578276719592\n",
      "\n",
      "num = \n",
      "1195\n",
      "SENSOR 4 1.24650229452 -2.56023060759\n",
      "\n",
      "num = \n",
      "1196\n",
      "SENSOR 5 4.21212445252 -2.06242062662\n",
      "\n",
      "num = \n",
      "1197\n",
      "SENSOR 7 4.70694640847 -0.892263945175\n",
      "\n",
      "num = \n",
      "1198\n",
      "ODOMETRY -0.00037265751809 0.0998440295294 -0.000708863996711\n",
      "\n",
      "num = \n",
      "1199\n",
      "SENSOR 8 3.29017114738 -0.5666416654\n",
      "\n",
      "num = \n",
      "1200\n",
      "SENSOR 4 1.40037409227 -2.63005405854\n",
      "\n",
      "num = \n",
      "1201\n",
      "SENSOR 5 4.42372428685 -2.02713569291\n",
      "\n",
      "num = \n",
      "1202\n",
      "SENSOR 7 4.51277082853 -0.937391880516\n",
      "\n",
      "num = \n",
      "1203\n",
      "ODOMETRY 0.000549130179465 0.100288755278 1.82426624936e-05\n",
      "\n",
      "num = \n",
      "1204\n",
      "SENSOR 8 3.16354926129 -0.650027075034\n",
      "\n",
      "num = \n",
      "1205\n",
      "SENSOR 4 1.56581587238 -2.64689180914\n",
      "\n",
      "num = \n",
      "1206\n",
      "SENSOR 5 4.56961487012 -2.06675043777\n",
      "\n",
      "num = \n",
      "1207\n",
      "SENSOR 7 4.38471094611 -0.972289005796\n",
      "\n",
      "num = \n",
      "1208\n",
      "ODOMETRY 0.000645178622869 0.100100339465 0.000192909709343\n",
      "\n",
      "num = \n",
      "1209\n",
      "SENSOR 8 2.77057282962 -0.623234920866\n",
      "\n",
      "num = \n",
      "1210\n",
      "SENSOR 4 1.77583036548 -2.72740306333\n",
      "\n",
      "num = \n",
      "1211\n",
      "SENSOR 5 4.51666797485 -2.10003063596\n",
      "\n",
      "num = \n",
      "1212\n",
      "SENSOR 7 4.35278661115 -1.06562270814\n",
      "\n",
      "num = \n",
      "1213\n",
      "ODOMETRY 0.000220714748943 0.100146506964 -5.5813601736e-05\n",
      "\n",
      "num = \n",
      "1214\n",
      "SENSOR 8 3.03740228237 -0.550455398411\n",
      "\n",
      "num = \n",
      "1215\n",
      "SENSOR 4 1.8624492249 -2.72680554325\n",
      "\n",
      "num = \n",
      "1216\n",
      "SENSOR 5 4.67196649744 -2.18447056445\n",
      "\n",
      "num = \n",
      "1217\n",
      "SENSOR 7 4.39648251174 -1.01413606174\n",
      "\n",
      "num = \n",
      "1218\n",
      "ODOMETRY -5.98619821553e-05 0.100148613965 0.000573344502251\n",
      "\n",
      "num = \n",
      "1219\n",
      "SENSOR 8 2.7278804723 -0.628672938564\n",
      "\n",
      "num = \n",
      "1220\n",
      "SENSOR 4 1.86366000409 -2.79069775944\n",
      "\n",
      "num = \n",
      "1221\n",
      "SENSOR 5 4.66578141022 -2.08932932486\n",
      "\n",
      "num = \n",
      "1222\n",
      "SENSOR 7 4.33487504614 -1.10438718949\n",
      "\n",
      "num = \n",
      "1223\n",
      "ODOMETRY -0.000254395332147 0.100024640789 -0.000652688628961\n",
      "\n",
      "num = \n",
      "1224\n",
      "SENSOR 8 2.56015428625 -0.67117844422\n",
      "\n",
      "num = \n",
      "1225\n",
      "SENSOR 4 2.04180033566 -2.67797111569\n",
      "\n",
      "num = \n",
      "1226\n",
      "SENSOR 5 4.57408937008 -2.20314984329\n",
      "\n",
      "num = \n",
      "1227\n",
      "SENSOR 7 4.29239512231 -0.997949271689\n",
      "\n",
      "num = \n",
      "1228\n",
      "ODOMETRY -0.000292250195526 0.0997511320397 -9.83808886044e-05\n",
      "\n",
      "num = \n",
      "1229\n",
      "SENSOR 8 2.72022086244 -0.695356021114\n",
      "\n",
      "num = \n",
      "1230\n",
      "SENSOR 4 2.02918390862 -2.74585989066\n",
      "\n",
      "num = \n",
      "1231\n",
      "SENSOR 5 4.71390230158 -2.17310210951\n",
      "\n",
      "num = \n",
      "1232\n",
      "SENSOR 7 4.25828714996 -1.02936430776\n",
      "\n",
      "num = \n",
      "1233\n",
      "ODOMETRY 0.000357262499533 0.0998075757931 -0.000666443084714\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "1234\n",
      "SENSOR 8 2.62623417118 -0.750471723584\n",
      "\n",
      "num = \n",
      "1235\n",
      "SENSOR 1 4.94718779801 0.154528557539\n",
      "\n",
      "num = \n",
      "1236\n",
      "SENSOR 4 2.3634761234 -2.8010846603\n",
      "\n",
      "num = \n",
      "1237\n",
      "SENSOR 5 4.94601814532 -2.24508315079\n",
      "\n",
      "num = \n",
      "1238\n",
      "SENSOR 7 4.34678367104 -1.03310054474\n",
      "\n",
      "num = \n",
      "1239\n",
      "ODOMETRY -7.64304058285e-05 0.0998892133306 -0.000859021990686\n",
      "\n",
      "num = \n",
      "1240\n",
      "SENSOR 8 2.42744412012 -0.777132921782\n",
      "\n",
      "num = \n",
      "1241\n",
      "SENSOR 1 4.95896046218 0.00996216000222\n",
      "\n",
      "num = \n",
      "1242\n",
      "SENSOR 4 2.32895901265 -2.78283197663\n",
      "\n",
      "num = \n",
      "1243\n",
      "SENSOR 5 5.01790714386 -2.29030546408\n",
      "\n",
      "num = \n",
      "1244\n",
      "SENSOR 7 4.26464120422 -1.11911392109\n",
      "\n",
      "num = \n",
      "1245\n",
      "ODOMETRY 9.21665546004e-05 0.0998967435925 0.000385948024594\n",
      "\n",
      "num = \n",
      "1246\n",
      "SENSOR 8 2.26591011781 -0.788648671624\n",
      "\n",
      "num = \n",
      "1247\n",
      "SENSOR 1 4.75505557319 0.0837556730636\n",
      "\n",
      "num = \n",
      "1248\n",
      "SENSOR 4 2.49676323824 -2.91181576786\n",
      "\n",
      "num = \n",
      "1249\n",
      "SENSOR 5 4.81530740064 -2.26659069566\n",
      "\n",
      "num = \n",
      "1250\n",
      "SENSOR 7 4.17392574758 -1.16985248411\n",
      "\n",
      "num = \n",
      "1251\n",
      "ODOMETRY -0.000187481724296 0.0999950597605 -7.20515157633e-05\n",
      "\n",
      "num = \n",
      "1252\n",
      "SENSOR 8 2.47675207959 -0.826591574279\n",
      "\n",
      "num = \n",
      "1253\n",
      "SENSOR 1 4.67777813782 0.0920068525674\n",
      "\n",
      "num = \n",
      "1254\n",
      "SENSOR 4 2.66877558249 -2.79790119519\n",
      "\n",
      "num = \n",
      "1255\n",
      "SENSOR 7 3.98859244528 -1.05372936242\n",
      "\n",
      "num = \n",
      "1256\n",
      "ODOMETRY 0.000565775881756 0.100130752871 0.00046768640825\n",
      "\n",
      "num = \n",
      "1257\n",
      "SENSOR 8 2.32402499802 -0.873627246347\n",
      "\n",
      "num = \n",
      "1258\n",
      "SENSOR 1 4.61288204783 0.0730722817372\n",
      "\n",
      "num = \n",
      "1259\n",
      "SENSOR 4 2.64002607037 -2.75912386153\n",
      "\n",
      "num = \n",
      "1260\n",
      "SENSOR 7 4.11400979091 -1.05867248438\n",
      "\n",
      "num = \n",
      "1261\n",
      "ODOMETRY -0.000504678080456 0.100138281338 -0.000176396449462\n",
      "\n",
      "num = \n",
      "1262\n",
      "SENSOR 8 2.10660515224 -0.775733009255\n",
      "\n",
      "num = \n",
      "1263\n",
      "SENSOR 1 4.49732848596 0.1399407981\n",
      "\n",
      "num = \n",
      "1264\n",
      "SENSOR 4 2.70805985015 -2.73790544347\n",
      "\n",
      "num = \n",
      "1265\n",
      "SENSOR 7 3.80458322393 -1.15161342715\n",
      "\n",
      "num = \n",
      "1266\n",
      "ODOMETRY -0.000545484301199 0.099887781115 0.000779096774788\n",
      "\n",
      "num = \n",
      "1267\n",
      "SENSOR 8 2.1033328619 -0.978837993775\n",
      "\n",
      "num = \n",
      "1268\n",
      "SENSOR 1 4.15012235247 0.115198940166\n",
      "\n",
      "num = \n",
      "1269\n",
      "SENSOR 4 2.96559499127 -2.93468967821\n",
      "\n",
      "num = \n",
      "1270\n",
      "SENSOR 7 3.84434779444 -1.24369085168\n",
      "\n",
      "num = \n",
      "1271\n",
      "ODOMETRY 0.00107575864537 0.0998095404138 -0.00137182038578\n",
      "\n",
      "num = \n",
      "1272\n",
      "SENSOR 8 1.9528490621 -0.96980216209\n",
      "\n",
      "num = \n",
      "1273\n",
      "SENSOR 1 4.2190898955 0.0543250036884\n",
      "\n",
      "num = \n",
      "1274\n",
      "SENSOR 4 2.99472589409 -2.77283231003\n",
      "\n",
      "num = \n",
      "1275\n",
      "SENSOR 7 4.12265478835 -1.29723843464\n",
      "\n",
      "num = \n",
      "1276\n",
      "ODOMETRY -0.000397231850927 0.099816854061 0.000108127268484\n",
      "\n",
      "num = \n",
      "1277\n",
      "SENSOR 8 2.05640355738 -1.0023417256\n",
      "\n",
      "num = \n",
      "1278\n",
      "SENSOR 1 4.09120868689 0.0416921883954\n",
      "\n",
      "num = \n",
      "1279\n",
      "SENSOR 4 2.98268677711 -2.92992008808\n",
      "\n",
      "num = \n",
      "1280\n",
      "SENSOR 7 4.12487146657 -1.2688588886\n",
      "\n",
      "num = \n",
      "1281\n",
      "ODOMETRY -0.000265772398546 0.100036458306 -0.000370302324979\n",
      "\n",
      "num = \n",
      "1282\n",
      "SENSOR 8 2.01315072466 -1.13621530697\n",
      "\n",
      "num = \n",
      "1283\n",
      "SENSOR 1 4.12331880519 0.0678802042158\n",
      "\n",
      "num = \n",
      "1284\n",
      "SENSOR 4 3.09872394769 -2.88428146089\n",
      "\n",
      "num = \n",
      "1285\n",
      "SENSOR 7 3.75634279948 -1.16433634981\n",
      "\n",
      "num = \n",
      "1286\n",
      "ODOMETRY -0.000541620482173 0.100160774973 6.10600709966e-05\n",
      "\n",
      "num = \n",
      "1287\n",
      "SENSOR 8 1.87817851442 -1.01366154542\n",
      "\n",
      "num = \n",
      "1288\n",
      "SENSOR 1 3.9816895161 0.180426105664\n",
      "\n",
      "num = \n",
      "1289\n",
      "SENSOR 4 3.22088798607 -2.88735444682\n",
      "\n",
      "num = \n",
      "1290\n",
      "SENSOR 7 3.85561122569 -1.2481610472\n",
      "\n",
      "num = \n",
      "1291\n",
      "ODOMETRY 0.000392164302967 0.100030417468 5.94884613321e-05\n",
      "\n",
      "num = \n",
      "1292\n",
      "SENSOR 8 1.99986008232 -1.17046431049\n",
      "\n",
      "num = \n",
      "1293\n",
      "SENSOR 1 4.01876601491 0.115777110231\n",
      "\n",
      "num = \n",
      "1294\n",
      "SENSOR 4 3.25397531129 -2.9525539699\n",
      "\n",
      "num = \n",
      "1295\n",
      "SENSOR 7 4.05394324029 -1.2227338882\n",
      "\n",
      "num = \n",
      "1296\n",
      "ODOMETRY -0.00125942131684 0.10020113288 -1.61507159024e-05\n",
      "\n",
      "num = \n",
      "1297\n",
      "SENSOR 8 1.75085656325 -1.14737196094\n",
      "\n",
      "num = \n",
      "1298\n",
      "SENSOR 1 3.55208748524 -0.0286615110807\n",
      "\n",
      "num = \n",
      "1299\n",
      "SENSOR 4 3.50804055398 -2.88753787699\n",
      "\n",
      "num = \n",
      "1300\n",
      "SENSOR 7 3.82246700917 -1.36929168223\n",
      "\n",
      "num = \n",
      "1301\n",
      "ODOMETRY 0.000360444182897 0.0999819575854 -0.000301837577909\n",
      "\n",
      "num = \n",
      "1302\n",
      "SENSOR 8 1.8391107717 -1.17035830933\n",
      "\n",
      "num = \n",
      "1303\n",
      "SENSOR 1 3.59039567041 -0.0342919614556\n",
      "\n",
      "num = \n",
      "1304\n",
      "SENSOR 4 3.44861173399 -2.94728150081\n",
      "\n",
      "num = \n",
      "1305\n",
      "SENSOR 7 3.76933082575 -1.32508249858\n",
      "\n",
      "num = \n",
      "1306\n",
      "ODOMETRY 1.72549656928e-05 0.100174178721 -0.197837957771\n",
      "\n",
      "num = \n",
      "1307\n",
      "SENSOR 8 1.84979216964 -1.02686291799\n",
      "\n",
      "num = \n",
      "1308\n",
      "SENSOR 1 3.54469869065 0.29649577269\n",
      "\n",
      "num = \n",
      "1309\n",
      "SENSOR 4 3.58131266801 -2.63543212143\n",
      "\n",
      "num = \n",
      "1310\n",
      "SENSOR 7 3.52211123328 -1.13031334482\n",
      "\n",
      "num = \n",
      "1311\n",
      "ODOMETRY 0.000833159052788 0.0995224621484 -0.201127639385\n",
      "\n",
      "num = \n",
      "1312\n",
      "SENSOR 8 1.96476940353 -1.04247072669\n",
      "\n",
      "num = \n",
      "1313\n",
      "SENSOR 1 3.36338823798 0.460888904894\n",
      "\n",
      "num = \n",
      "1314\n",
      "SENSOR 4 3.41856587674 -2.62263158505\n",
      "\n",
      "num = \n",
      "1315\n",
      "SENSOR 7 3.62669913715 -1.03612445929\n",
      "\n",
      "num = \n",
      "1316\n",
      "ODOMETRY 0.000466948919961 0.0999586066041 -0.199214878801\n",
      "\n",
      "num = \n",
      "1317\n",
      "SENSOR 8 1.50569090993 -0.692985172161\n",
      "\n",
      "num = \n",
      "1318\n",
      "SENSOR 1 3.40158919367 0.676179021527\n",
      "\n",
      "num = \n",
      "1319\n",
      "SENSOR 4 3.82602221094 -2.34847085741\n",
      "\n",
      "num = \n",
      "1320\n",
      "SENSOR 7 3.74222753671 -0.842560288278\n",
      "\n",
      "num = \n",
      "1321\n",
      "ODOMETRY -0.000160679838507 0.100406646411 -0.20513341706\n",
      "\n",
      "num = \n",
      "1322\n",
      "SENSOR 8 1.75964929425 -0.579092402868\n",
      "\n",
      "num = \n",
      "1323\n",
      "SENSOR 1 3.25666160955 0.920760130139\n",
      "\n",
      "num = \n",
      "1324\n",
      "SENSOR 4 3.74182183993 -2.25188172996\n",
      "\n",
      "num = \n",
      "1325\n",
      "SENSOR 7 3.63271014603 -0.685588391155\n",
      "\n",
      "num = \n",
      "1326\n",
      "ODOMETRY -0.000808106078492 0.100040068005 -0.199580511749\n",
      "\n",
      "num = \n",
      "1327\n",
      "SENSOR 8 1.46234266827 -0.421036150351\n",
      "\n",
      "num = \n",
      "1328\n",
      "SENSOR 1 3.22740135581 1.08076644574\n",
      "\n",
      "num = \n",
      "1329\n",
      "SENSOR 4 3.90427768799 -1.96806270903\n",
      "\n",
      "num = \n",
      "1330\n",
      "SENSOR 7 3.65826711924 -0.47952229817\n",
      "\n",
      "num = \n",
      "1331\n",
      "ODOMETRY -0.000145486837627 0.100049187631 -0.200214103677\n",
      "\n",
      "num = \n",
      "1332\n",
      "SENSOR 8 1.35631755589 -0.254560751908\n",
      "\n",
      "num = \n",
      "1333\n",
      "SENSOR 1 3.23468633825 1.38502505236\n",
      "\n",
      "num = \n",
      "1334\n",
      "SENSOR 4 3.88111579476 -1.75925703229\n",
      "\n",
      "num = \n",
      "1335\n",
      "SENSOR 7 3.38003924837 -0.342820131699\n",
      "\n",
      "num = \n",
      "1336\n",
      "ODOMETRY 0.000807682826199 0.0998576929163 -0.199650341973\n",
      "\n",
      "num = \n",
      "1337\n",
      "SENSOR 8 1.34275233187 -0.0851814310991\n",
      "\n",
      "num = \n",
      "1338\n",
      "SENSOR 1 3.09308576884 1.56870685828\n",
      "\n",
      "num = \n",
      "1339\n",
      "SENSOR 4 4.02562092446 -1.65528286572\n",
      "\n",
      "num = \n",
      "1340\n",
      "SENSOR 7 3.58514954149 -0.187873493014\n",
      "\n",
      "num = \n",
      "1341\n",
      "ODOMETRY -0.000428515032312 0.100251047196 -0.149947833893\n",
      "\n",
      "num = \n",
      "1342\n",
      "SENSOR 8 1.1879400183 0.0830958754533\n",
      "\n",
      "num = \n",
      "1343\n",
      "SENSOR 1 2.99038531627 1.8317054283\n",
      "\n",
      "num = \n",
      "1344\n",
      "SENSOR 4 3.85993494084 -1.51825245342\n",
      "\n",
      "num = \n",
      "1345\n",
      "SENSOR 7 3.21978341217 0.10188066333\n",
      "\n",
      "num = \n",
      "1346\n",
      "ODOMETRY 0.000329703084439 0.0999895285689 0.000238320945858\n",
      "\n",
      "num = \n",
      "1347\n",
      "SENSOR 8 1.16107707643 0.098391493434\n",
      "\n",
      "num = \n",
      "1348\n",
      "SENSOR 1 3.39850398338 1.85628260369\n",
      "\n",
      "num = \n",
      "1349\n",
      "SENSOR 4 3.87738569246 -1.46107729608\n",
      "\n",
      "num = \n",
      "1350\n",
      "SENSOR 7 2.98749025458 -0.0518862987595\n",
      "\n",
      "num = \n",
      "1351\n",
      "ODOMETRY 0.000270843716893 0.100179945235 0.000184824435447\n",
      "\n",
      "num = \n",
      "1352\n",
      "SENSOR 8 1.06344667542 0.0572593089771\n",
      "\n",
      "num = \n",
      "1353\n",
      "SENSOR 1 3.30192232871 1.83214856291\n",
      "\n",
      "num = \n",
      "1354\n",
      "SENSOR 4 3.85220965513 -1.58171538315\n",
      "\n",
      "num = \n",
      "1355\n",
      "SENSOR 7 3.05644259267 -0.0733806410309\n",
      "\n",
      "num = \n",
      "1356\n",
      "ODOMETRY 0.000857409131526 0.0999703558845 -4.28418099664e-06\n",
      "\n",
      "num = \n",
      "1357\n",
      "SENSOR 8 0.991950183533 0.022852498629\n",
      "\n",
      "num = \n",
      "1358\n",
      "SENSOR 1 3.30165800592 1.82615385918\n",
      "\n",
      "num = \n",
      "1359\n",
      "SENSOR 4 3.80323123031 -1.60852485889\n",
      "\n",
      "num = \n",
      "1360\n",
      "SENSOR 7 3.02332044161 0.0177212878477\n",
      "\n",
      "num = \n",
      "1361\n",
      "ODOMETRY -0.00022595304179 0.100106578685 2.98408842206e-05\n",
      "\n",
      "num = \n",
      "1362\n",
      "SENSOR 8 0.741572769565 0.0932227988397\n",
      "\n",
      "num = \n",
      "1363\n",
      "SENSOR 1 3.30586753539 1.94902272948\n",
      "\n",
      "num = \n",
      "1364\n",
      "SENSOR 4 3.80676660474 -1.64142290406\n",
      "\n",
      "num = \n",
      "1365\n",
      "SENSOR 7 2.93534845328 0.0541856313413\n",
      "\n",
      "num = \n",
      "1366\n",
      "ODOMETRY -0.00028842880877 0.100083357215 0.000286729693161\n",
      "\n",
      "num = \n",
      "1367\n",
      "SENSOR 8 0.754895629529 0.138563110383\n",
      "\n",
      "num = \n",
      "1368\n",
      "SENSOR 1 3.22600674494 1.97326623813\n",
      "\n",
      "num = \n",
      "1369\n",
      "SENSOR 4 3.99586155101 -1.67216259591\n",
      "\n",
      "num = \n",
      "1370\n",
      "SENSOR 7 2.85871262055 -0.0489927191342\n",
      "\n",
      "num = \n",
      "1371\n",
      "ODOMETRY 0.00073499821176 0.0999470991446 -0.000399438313724\n",
      "\n",
      "num = \n",
      "1372\n",
      "SENSOR 8 0.577463296768 0.168806915689\n",
      "\n",
      "num = \n",
      "1373\n",
      "SENSOR 1 3.61502785225 1.95506173105\n",
      "\n",
      "num = \n",
      "1374\n",
      "SENSOR 4 3.95219296527 -1.66140037674\n",
      "\n",
      "num = \n",
      "1375\n",
      "SENSOR 7 2.74365846661 0.091096107858\n",
      "\n",
      "num = \n",
      "1376\n",
      "ODOMETRY -4.31093421434e-05 0.0998743390741 0.000156696822532\n",
      "\n",
      "num = \n",
      "1377\n",
      "SENSOR 8 0.589051083152 0.129088983247\n",
      "\n",
      "num = \n",
      "1378\n",
      "SENSOR 1 3.39919780051 1.94412712004\n",
      "\n",
      "num = \n",
      "1379\n",
      "SENSOR 4 3.99857884154 -1.70485592084\n",
      "\n",
      "num = \n",
      "1380\n",
      "SENSOR 7 2.55497337551 0.0608138024856\n",
      "\n",
      "num = \n",
      "1381\n",
      "ODOMETRY -0.000243566312038 0.10004641358 -0.000196329513877\n",
      "\n",
      "num = \n",
      "1382\n",
      "SENSOR 8 0.38618074963 0.250102136286\n",
      "\n",
      "num = \n",
      "1383\n",
      "SENSOR 1 3.34602941186 1.97196843636\n",
      "\n",
      "num = \n",
      "1384\n",
      "SENSOR 4 3.86932679866 -1.72900971123\n",
      "\n",
      "num = \n",
      "1385\n",
      "SENSOR 7 2.59840861212 0.0698763171769\n",
      "\n",
      "num = \n",
      "1386\n",
      "ODOMETRY 0.000166426733439 0.100022177361 0.000496357405707\n",
      "\n",
      "num = \n",
      "1387\n",
      "SENSOR 8 0.29236369946 0.137333892567\n",
      "\n",
      "num = \n",
      "1388\n",
      "SENSOR 1 3.56145390971 1.980721848\n",
      "\n",
      "num = \n",
      "1389\n",
      "SENSOR 4 3.88388761474 -1.82703179252\n",
      "\n",
      "num = \n",
      "1390\n",
      "SENSOR 7 2.47702971088 0.129590298903\n",
      "\n",
      "num = \n",
      "1391\n",
      "ODOMETRY 0.000200725157797 0.100078981451 -0.000151872288925\n",
      "\n",
      "num = \n",
      "1392\n",
      "SENSOR 8 0.365729111397 0.349748787472\n",
      "\n",
      "num = \n",
      "1393\n",
      "SENSOR 1 3.47041530697 2.00066575632\n",
      "\n",
      "num = \n",
      "1394\n",
      "SENSOR 4 4.14389122248 -1.78316157679\n",
      "\n",
      "num = \n",
      "1395\n",
      "SENSOR 7 2.40075146509 0.0146665231675\n",
      "\n",
      "num = \n",
      "1396\n",
      "ODOMETRY -0.000579333651918 0.0999553366096 -0.000117283755679\n",
      "\n",
      "num = \n",
      "1397\n",
      "SENSOR 8 0.0502863657936 0.410526774662\n",
      "\n",
      "num = \n",
      "1398\n",
      "SENSOR 1 3.69067789238 2.17805074444\n",
      "\n",
      "num = \n",
      "1399\n",
      "SENSOR 4 4.09027678434 -1.83041726386\n",
      "\n",
      "num = \n",
      "1400\n",
      "SENSOR 7 1.98014597944 0.0576865719976\n",
      "\n",
      "num = \n",
      "1401\n",
      "ODOMETRY 0.0003785086232 0.0998552643556 8.0753994939e-05\n",
      "\n",
      "num = \n",
      "1402\n",
      "SENSOR 8 0.168342598614 0.997314312587\n",
      "\n",
      "num = \n",
      "1403\n",
      "SENSOR 1 3.65030002905 2.04433177986\n",
      "\n",
      "num = \n",
      "1404\n",
      "SENSOR 4 4.16845827588 -1.89464589741\n",
      "\n",
      "num = \n",
      "1405\n",
      "SENSOR 7 2.02099297852 0.0343928604331\n",
      "\n",
      "num = \n",
      "1406\n",
      "ODOMETRY 0.000631351437857 0.0998678082397 -0.00108162501603\n",
      "\n",
      "num = \n",
      "1407\n",
      "SENSOR 8 0.228046714232 2.16782157887\n",
      "\n",
      "num = \n",
      "1408\n",
      "SENSOR 1 3.83771899035 2.13991521202\n",
      "\n",
      "num = \n",
      "1409\n",
      "SENSOR 4 3.91035210899 -1.78508814013\n",
      "\n",
      "num = \n",
      "1410\n",
      "SENSOR 7 2.09404921795 0.073225887195\n",
      "\n",
      "num = \n",
      "1411\n",
      "ODOMETRY -0.000193688869607 0.0999886926612 -1.98918895355e-05\n",
      "\n",
      "num = \n",
      "1412\n",
      "SENSOR 8 0.075021317958 2.66991541795\n",
      "\n",
      "num = \n",
      "1413\n",
      "SENSOR 1 3.94401764174 2.30453132583\n",
      "\n",
      "num = \n",
      "1414\n",
      "SENSOR 3 5.04767387692 0.693054605253\n",
      "\n",
      "num = \n",
      "1415\n",
      "SENSOR 4 4.04181014378 -1.86436690644\n",
      "\n",
      "num = \n",
      "1416\n",
      "SENSOR 7 1.9697847454 0.0510655998543\n",
      "\n",
      "num = \n",
      "1417\n",
      "ODOMETRY 7.47546602372e-06 0.0999796433801 -0.000779277957618\n",
      "\n",
      "num = \n",
      "1418\n",
      "SENSOR 8 0.208235129731 2.86726458023\n",
      "\n",
      "num = \n",
      "1419\n",
      "SENSOR 1 3.54294808766 2.09165642135\n",
      "\n",
      "num = \n",
      "1420\n",
      "SENSOR 3 4.73828954496 0.641679611239\n",
      "\n",
      "num = \n",
      "1421\n",
      "SENSOR 4 4.17698527247 -1.82214858142\n",
      "\n",
      "num = \n",
      "1422\n",
      "SENSOR 7 1.71132485001 0.0983006447776\n",
      "\n",
      "num = \n",
      "1423\n",
      "ODOMETRY 0.000689383008851 0.0999423918626 3.49513447236e-05\n",
      "\n",
      "num = \n",
      "1424\n",
      "SENSOR 8 0.484016165701 2.9408108201\n",
      "\n",
      "num = \n",
      "1425\n",
      "SENSOR 1 3.98604758273 2.20091963284\n",
      "\n",
      "num = \n",
      "1426\n",
      "SENSOR 3 4.69180703169 0.703296950333\n",
      "\n",
      "num = \n",
      "1427\n",
      "SENSOR 4 4.03432426588 -1.9192180266\n",
      "\n",
      "num = \n",
      "1428\n",
      "SENSOR 7 1.70662307955 0.0195730144804\n",
      "\n",
      "num = \n",
      "1429\n",
      "ODOMETRY 0.000371189846191 0.100228636952 -6.17591100635e-05\n",
      "\n",
      "num = \n",
      "1430\n",
      "SENSOR 8 0.373342787461 3.05756133486\n",
      "\n",
      "num = \n",
      "1431\n",
      "SENSOR 1 3.80212871234 2.24503327543\n",
      "\n",
      "num = \n",
      "1432\n",
      "SENSOR 3 4.73172458484 0.67665686452\n",
      "\n",
      "num = \n",
      "1433\n",
      "SENSOR 4 4.1194352688 -1.87726272441\n",
      "\n",
      "num = \n",
      "1434\n",
      "SENSOR 7 1.48281402876 0.0712741173797\n",
      "\n",
      "num = \n",
      "1435\n",
      "ODOMETRY 0.000618245466302 0.100151291839 -0.000273490204962\n",
      "\n",
      "num = \n",
      "1436\n",
      "SENSOR 8 0.338081528614 3.00941243853\n",
      "\n",
      "num = \n",
      "1437\n",
      "SENSOR 1 3.86632963985 2.33119255759\n",
      "\n",
      "num = \n",
      "1438\n",
      "SENSOR 3 4.76975391251 0.681775935734\n",
      "\n",
      "num = \n",
      "1439\n",
      "SENSOR 4 4.41680657696 -1.93881980098\n",
      "\n",
      "num = \n",
      "1440\n",
      "SENSOR 7 1.40686137282 0.062021088176\n",
      "\n",
      "num = \n",
      "1441\n",
      "ODOMETRY 0.000733914848916 0.0998145788248 0.000333638766583\n",
      "\n",
      "num = \n",
      "1442\n",
      "SENSOR 8 0.519130019884 3.01398633257\n",
      "\n",
      "num = \n",
      "1443\n",
      "SENSOR 1 4.092604199 2.27097935826\n",
      "\n",
      "num = \n",
      "1444\n",
      "SENSOR 3 4.66146335586 0.71875130474\n",
      "\n",
      "num = \n",
      "1445\n",
      "SENSOR 4 4.27909552357 -2.04618136993\n",
      "\n",
      "num = \n",
      "1446\n",
      "SENSOR 7 1.3644951038 0.0459100663336\n",
      "\n",
      "num = \n",
      "1447\n",
      "ODOMETRY 0.000374769638158 0.100036391275 -0.000317588610378\n",
      "\n",
      "num = \n",
      "1448\n",
      "SENSOR 8 0.827056766872 3.03411383029\n",
      "\n",
      "num = \n",
      "1449\n",
      "SENSOR 1 4.18766617032 2.23580707826\n",
      "\n",
      "num = \n",
      "1450\n",
      "SENSOR 3 4.61732503972 0.766211483505\n",
      "\n",
      "num = \n",
      "1451\n",
      "SENSOR 4 4.43223800648 -2.07050951908\n",
      "\n",
      "num = \n",
      "1452\n",
      "SENSOR 7 1.03765736173 0.159708017897\n",
      "\n",
      "num = \n",
      "1453\n",
      "ODOMETRY 0.000258383796783 0.100046475173 -0.000187448045561\n",
      "\n",
      "num = \n",
      "1454\n",
      "SENSOR 8 1.01841466548 3.11245128248\n",
      "\n",
      "num = \n",
      "1455\n",
      "SENSOR 1 4.21844819546 2.30727717394\n",
      "\n",
      "num = \n",
      "1456\n",
      "SENSOR 3 4.3323136637 0.706356613225\n",
      "\n",
      "num = \n",
      "1457\n",
      "SENSOR 4 4.29925826917 -2.0601421367\n",
      "\n",
      "num = \n",
      "1458\n",
      "SENSOR 7 1.03803647927 -0.00430512051299\n",
      "\n",
      "num = \n",
      "1459\n",
      "ODOMETRY 0.000175057256198 0.100016206243 -0.000574875437212\n",
      "\n",
      "num = \n",
      "1460\n",
      "SENSOR 8 1.06114766024 3.03958700547\n",
      "\n",
      "num = \n",
      "1461\n",
      "SENSOR 1 4.19308291462 2.37305169986\n",
      "\n",
      "num = \n",
      "1462\n",
      "SENSOR 3 4.43340843678 0.694611397644\n",
      "\n",
      "num = \n",
      "1463\n",
      "SENSOR 4 4.38782200387 -2.07646825755\n",
      "\n",
      "num = \n",
      "1464\n",
      "SENSOR 7 1.06893881671 0.116816994177\n",
      "\n",
      "num = \n",
      "1465\n",
      "ODOMETRY 0.000491173744155 0.10008587263 0.000451347893861\n",
      "\n",
      "num = \n",
      "1466\n",
      "SENSOR 1 4.3465399853 2.28806126288\n",
      "\n",
      "num = \n",
      "1467\n",
      "SENSOR 3 4.09833809874 0.726784901555\n",
      "\n",
      "num = \n",
      "1468\n",
      "SENSOR 4 4.40765307229 -2.05703339848\n",
      "\n",
      "num = \n",
      "1469\n",
      "SENSOR 7 0.881587336964 0.117015013311\n",
      "\n",
      "num = \n",
      "1470\n",
      "SENSOR 8 0.867257838608 3.05280488795\n",
      "\n",
      "num = \n",
      "1471\n",
      "SENSOR 9 4.94840900988 0.00494688573455\n",
      "\n",
      "num = \n",
      "1472\n",
      "ODOMETRY -0.000630803375501 0.0998285005059 -2.7665388273e-05\n",
      "\n",
      "num = \n",
      "1473\n",
      "SENSOR 1 4.28954934192 2.33401947973\n",
      "\n",
      "num = \n",
      "1474\n",
      "SENSOR 3 4.21909781406 0.841868593915\n",
      "\n",
      "num = \n",
      "1475\n",
      "SENSOR 4 4.34989823139 -2.1630714784\n",
      "\n",
      "num = \n",
      "1476\n",
      "SENSOR 5 4.93979661166 -1.43241329084\n",
      "\n",
      "num = \n",
      "1477\n",
      "SENSOR 7 1.00602499222 -0.040670077456\n",
      "\n",
      "num = \n",
      "1478\n",
      "SENSOR 8 1.18675294958 3.004888246\n",
      "\n",
      "num = \n",
      "1479\n",
      "SENSOR 9 4.77149906495 0.0784167803443\n",
      "\n",
      "num = \n",
      "1480\n",
      "ODOMETRY 0.000177588275668 0.100041526731 2.03395494299e-05\n",
      "\n",
      "num = \n",
      "1481\n",
      "SENSOR 1 4.50190602028 2.36927895117\n",
      "\n",
      "num = \n",
      "1482\n",
      "SENSOR 3 4.00101151167 0.822133488219\n",
      "\n",
      "num = \n",
      "1483\n",
      "SENSOR 4 4.61215771686 -2.12862160394\n",
      "\n",
      "num = \n",
      "1484\n",
      "SENSOR 5 4.84715248381 -1.4593957133\n",
      "\n",
      "num = \n",
      "1485\n",
      "SENSOR 7 0.709436083234 0.117971189266\n",
      "\n",
      "num = \n",
      "1486\n",
      "SENSOR 8 1.19024309106 3.05045863386\n",
      "\n",
      "num = \n",
      "1487\n",
      "SENSOR 9 4.81849247234 0.0840660435082\n",
      "\n",
      "num = \n",
      "1488\n",
      "ODOMETRY -0.00019234723744 0.0999661969223 0.000577955783123\n",
      "\n",
      "num = \n",
      "1489\n",
      "SENSOR 1 4.59154612566 2.44123409548\n",
      "\n",
      "num = \n",
      "1490\n",
      "SENSOR 3 4.09270372353 0.984449055743\n",
      "\n",
      "num = \n",
      "1491\n",
      "SENSOR 4 4.56940774115 -2.11108309143\n",
      "\n",
      "num = \n",
      "1492\n",
      "SENSOR 5 5.01708970382 -1.51328639505\n",
      "\n",
      "num = \n",
      "1493\n",
      "SENSOR 7 0.552235897588 0.0784446480335\n",
      "\n",
      "num = \n",
      "1494\n",
      "SENSOR 8 1.49530808357 3.0624113724\n",
      "\n",
      "num = \n",
      "1495\n",
      "SENSOR 9 4.63213726628 -0.0149057156019\n",
      "\n",
      "num = \n",
      "1496\n",
      "ODOMETRY 0.000460432625711 0.0999157148755 -0.000910662300223\n",
      "\n",
      "num = \n",
      "1497\n",
      "SENSOR 1 4.48577419944 2.40999777344\n",
      "\n",
      "num = \n",
      "1498\n",
      "SENSOR 3 3.96324395546 0.842587357236\n",
      "\n",
      "num = \n",
      "1499\n",
      "SENSOR 4 4.84921297455 -2.03032326714\n",
      "\n",
      "num = \n",
      "1500\n",
      "SENSOR 5 4.88860777235 -1.50097582453\n",
      "\n",
      "num = \n",
      "1501\n",
      "SENSOR 7 0.588213080216 0.109167111711\n",
      "\n",
      "num = \n",
      "1502\n",
      "SENSOR 8 1.5290828434 2.9941760243\n",
      "\n",
      "num = \n",
      "1503\n",
      "SENSOR 9 4.64413302069 0.012212596853\n",
      "\n",
      "num = \n",
      "1504\n",
      "ODOMETRY -0.000632043960132 0.100015301076 -0.000511368804941\n",
      "\n",
      "num = \n",
      "1505\n",
      "SENSOR 1 4.65821689345 2.45792546861\n",
      "\n",
      "num = \n",
      "1506\n",
      "SENSOR 3 4.08457768068 0.947534767445\n",
      "\n",
      "num = \n",
      "1507\n",
      "SENSOR 4 4.68074341243 -2.0547331182\n",
      "\n",
      "num = \n",
      "1508\n",
      "SENSOR 5 5.03725288619 -1.5159326314\n",
      "\n",
      "num = \n",
      "1509\n",
      "SENSOR 7 0.491288665507 0.21797802742\n",
      "\n",
      "num = \n",
      "1510\n",
      "SENSOR 8 1.49582908804 3.09625513813\n",
      "\n",
      "num = \n",
      "1511\n",
      "SENSOR 9 4.33921881025 -0.00590236119985\n",
      "\n",
      "num = \n",
      "1512\n",
      "ODOMETRY -0.00030216604025 0.0998494710161 -0.000788688367358\n",
      "\n",
      "num = \n",
      "1513\n",
      "SENSOR 1 4.82461449155 2.39935149529\n",
      "\n",
      "num = \n",
      "1514\n",
      "SENSOR 3 3.59588226911 0.936386929512\n",
      "\n",
      "num = \n",
      "1515\n",
      "SENSOR 4 4.72357023165 -2.19690127747\n",
      "\n",
      "num = \n",
      "1516\n",
      "SENSOR 5 4.98819755727 -1.41111155842\n",
      "\n",
      "num = \n",
      "1517\n",
      "SENSOR 7 0.25233213443 0.25429317372\n",
      "\n",
      "num = \n",
      "1518\n",
      "SENSOR 8 1.84161583689 3.0711942204\n",
      "\n",
      "num = \n",
      "1519\n",
      "SENSOR 9 4.41280424602 0.04021455269\n",
      "\n",
      "num = \n",
      "1520\n",
      "ODOMETRY -4.40372241114e-05 0.100017342864 -0.000286686615297\n",
      "\n",
      "num = \n",
      "1521\n",
      "SENSOR 1 4.96806499108 2.46338913003\n",
      "\n",
      "num = \n",
      "1522\n",
      "SENSOR 3 3.77131398662 1.02060797171\n",
      "\n",
      "num = \n",
      "1523\n",
      "SENSOR 4 4.97631293103 -2.18306190358\n",
      "\n",
      "num = \n",
      "1524\n",
      "SENSOR 5 5.14857691815 -1.51205005817\n",
      "\n",
      "num = \n",
      "1525\n",
      "SENSOR 7 0.153079788205 0.302027094071\n",
      "\n",
      "num = \n",
      "1526\n",
      "SENSOR 8 1.78245016777 3.13258766533\n",
      "\n",
      "num = \n",
      "1527\n",
      "SENSOR 9 4.2464309394 -0.0529402471568\n",
      "\n",
      "num = \n",
      "1528\n",
      "ODOMETRY 6.09844486367e-05 0.099932109886 -0.000288637789677\n",
      "\n",
      "num = \n",
      "1529\n",
      "SENSOR 1 4.89338384844 2.45642677822\n",
      "\n",
      "num = \n",
      "1530\n",
      "SENSOR 3 3.8913033322 1.00389625496\n",
      "\n",
      "num = \n",
      "1531\n",
      "SENSOR 4 4.69061171536 -2.1926166367\n",
      "\n",
      "num = \n",
      "1532\n",
      "SENSOR 5 5.09158734052 -1.68617809973\n",
      "\n",
      "num = \n",
      "1533\n",
      "SENSOR 7 0.148370172637 0.491018538937\n",
      "\n",
      "num = \n",
      "1534\n",
      "SENSOR 8 1.79402872866 3.05372037318\n",
      "\n",
      "num = \n",
      "1535\n",
      "SENSOR 9 4.11470896003 0.0504472179281\n",
      "\n",
      "num = \n",
      "1536\n",
      "ODOMETRY 0.000717467411298 0.0999184617753 0.000633850966142\n",
      "\n",
      "num = \n",
      "1537\n",
      "SENSOR 3 3.66655129086 0.99534175243\n",
      "\n",
      "num = \n",
      "1538\n",
      "SENSOR 4 4.88757825221 -2.21111435067\n",
      "\n",
      "num = \n",
      "1539\n",
      "SENSOR 5 5.01714051312 -1.58666564734\n",
      "\n",
      "num = \n",
      "1540\n",
      "SENSOR 6 4.93994690121 -0.918673994978\n",
      "\n",
      "num = \n",
      "1541\n",
      "SENSOR 7 0.162381760064 1.08374304001\n",
      "\n",
      "num = \n",
      "1542\n",
      "SENSOR 8 1.94376056708 3.03250925967\n",
      "\n",
      "num = \n",
      "1543\n",
      "SENSOR 9 4.08318042178 -0.0114319793392\n",
      "\n"
     ]
    }
   ],
   "source": [
    "# Начальные распределения\n",
    "m = []\n",
    "P = []\n",
    "m.append([0,0,0])\n",
    "myfile = open('/data files/sensor_data_pf.dat')\n",
    "R = []\n",
    "n = 3\n",
    "k = 0\n",
    "nn = 0 \n",
    "N = 10\n",
    "Y = 0\n",
    "w = [1/N] * N\n",
    "x = np.array([[random.random()]*n for i in range(N)])\n",
    "alpha = [0.1,0.1,0.05,0.05]\n",
    "nums = []\n",
    "for line in myfile:\n",
    "    nn = nn+1\n",
    "    q = line.split()\n",
    "    if q[0] == 'ODOMETRY':\n",
    "        if(len(nums)!= 0):\n",
    "            # нормировка\n",
    "            s = sum(w)\n",
    "            w /= s\n",
    "            # Вычисление оценки матожидания\n",
    "            m_ = [0.0] * n\n",
    "            for i in range(N):\n",
    "                m_  = m_ + w[i] *x[i]\n",
    "                m_[0] = nrml(m_[0])\n",
    "            m.append(m_)\n",
    "        # Ресемплинг\n",
    "            x = resample(w)\n",
    "            w = [1/N]*N\n",
    "        #Берем дельты из Одометрии\n",
    "        deltar1 = float(q[1])\n",
    "        deltat = float(q[2])\n",
    "        deltar2 = float(q[3])\n",
    "        \n",
    "        # движение частиц\n",
    "        for i in range(N):\n",
    "            x[i] = f(x[i])\n",
    "        w = np.array([1.0] * N)\n",
    "        nums = []\n",
    "        k = 0\n",
    "    else:\n",
    "        k = k+1\n",
    "        num = int(q[1])\n",
    "        nums.append(num)\n",
    "        Y = float(q[2])\n",
    "        for i in range(N):\n",
    "            delta_x = L[num - 1][1] - x[i][1]\n",
    "            delta_y = L[num - 1][2] - x[i][2]\n",
    "            qq = (delta_x * delta_x) + (delta_y * delta_y)\n",
    "            qq = math.sqrt(qq)\n",
    "            w[i] *= math.exp(-(qq - Y)*(qq - Y)/ 0.08)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 153,
   "id": "55514336",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<matplotlib.lines.Line2D at 0x7fee0a295df0>]"
      ]
     },
     "execution_count": 153,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "X =[]\n",
    "for i in range(0,len(m)):\n",
    "    X.append(m[i])#np.random.multivariate_normal(m[i],P[i]))\n",
    "x = [a[1] for a in X]\n",
    "y = [a[2] for a in X]\n",
    "fig1 = plt.figure(1)\n",
    "axes1 = fig1.subplots(1, 1)\n",
    "axes1.plot(x, y,label='parametric curve')"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "b6e88f96",
   "metadata": {},
   "source": [
    "print(P)"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "9f7ea87a",
   "metadata": {},
   "source": [
    "# фильтр частиц для расстояния и угла"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 170,
   "id": "d9ee774e",
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "1\n",
      "ODOMETRY 0.100068080139 0.100249642432 -0.000326992241362\n",
      "\n",
      "num = \n",
      "2\n",
      "SENSOR 1 2.08219220544 0.311724182123\n",
      "\n",
      "num = \n",
      "3\n",
      "SENSOR 2 4.01188450412 1.44126366316\n",
      "\n",
      "num = \n",
      "4\n",
      "ODOMETRY 0.100770135385 0.0999830371692 0.000283319078732\n",
      "\n",
      "s =  17.338310745979594\n",
      "num = \n",
      "5\n",
      "SENSOR 1 2.03292033382 0.309629930574\n",
      "\n",
      "num = \n",
      "6\n",
      "SENSOR 2 3.67779686283 1.3616405663\n",
      "\n",
      "num = \n",
      "7\n",
      "ODOMETRY 0.100250871824 0.0999613218142 -0.000425899489536\n",
      "\n",
      "s =  19.080882794164385\n",
      "num = \n",
      "8\n",
      "SENSOR 1 1.91136870178 0.177168372291\n",
      "\n",
      "num = \n",
      "9\n",
      "SENSOR 2 4.08834234003 1.33657402646\n",
      "\n",
      "num = \n",
      "10\n",
      "ODOMETRY 0.0985096726563 0.100081615233 -0.000571339302397\n",
      "\n",
      "s =  34.027437836467215\n",
      "num = \n",
      "11\n",
      "SENSOR 1 1.98574147997 0.089747632785\n",
      "\n",
      "num = \n",
      "12\n",
      "SENSOR 2 3.93046602632 1.29955605297\n",
      "\n",
      "num = \n",
      "13\n",
      "ODOMETRY 0.101801020564 0.100072032353 -0.000788337604257\n",
      "\n",
      "s =  45.19366072098549\n",
      "num = \n",
      "14\n",
      "SENSOR 1 1.67053917265 0.061660128389\n",
      "\n",
      "num = \n",
      "15\n",
      "SENSOR 2 3.93135144955 1.20012845634\n",
      "\n",
      "num = \n",
      "16\n",
      "ODOMETRY 0.100732548455 0.0996154508379 -0.000105935989332\n",
      "\n",
      "s =  47.973347845532295\n",
      "num = \n",
      "17\n",
      "SENSOR 1 1.69509870017 -0.00971084225084\n",
      "\n",
      "num = \n",
      "18\n",
      "SENSOR 2 3.92006968797 1.17072603097\n",
      "\n",
      "num = \n",
      "19\n",
      "ODOMETRY 0.0985339028457 0.10011190473 0.000126323563896\n",
      "\n",
      "s =  22.74812888282277\n",
      "num = \n",
      "20\n",
      "SENSOR 1 1.62936210161 -0.242180309032\n",
      "\n",
      "num = \n",
      "21\n",
      "SENSOR 2 3.76644245257 1.02862466314\n",
      "\n",
      "num = \n",
      "22\n",
      "ODOMETRY 0.101049451133 0.100199835316 -0.000361303653382\n",
      "\n",
      "s =  24.96948958941993\n",
      "num = \n",
      "23\n",
      "SENSOR 1 1.47134359284 -0.352165302038\n",
      "\n",
      "num = \n",
      "24\n",
      "SENSOR 2 3.88216721427 0.893742578962\n",
      "\n",
      "num = \n",
      "25\n",
      "ODOMETRY 0.100646006753 0.0999299988125 0.000199325181315\n",
      "\n",
      "s =  16.823095633110213\n",
      "num = \n",
      "26\n",
      "SENSOR 8 4.93921740531 -0.413558750818\n",
      "\n",
      "num = \n",
      "27\n",
      "SENSOR 1 1.45171120046 -0.531515257689\n",
      "\n",
      "num = \n",
      "28\n",
      "SENSOR 2 3.61292938589 0.815152950843\n",
      "\n",
      "num = \n",
      "29\n",
      "ODOMETRY 0.0986517196475 0.0996899122762 -2.47048086689e-05\n",
      "\n",
      "s =  20.549938309963018\n",
      "num = \n",
      "30\n",
      "SENSOR 8 4.76780517727 -0.560485980645\n",
      "\n",
      "num = \n",
      "31\n",
      "SENSOR 1 1.25977658533 -0.608502603201\n",
      "\n",
      "num = \n",
      "32\n",
      "SENSOR 2 3.58758897877 0.768999739321\n",
      "\n",
      "num = \n",
      "33\n",
      "ODOMETRY 0.0983783352026 0.100103903116 0.000580323884346\n",
      "\n",
      "s =  22.102309186573933\n",
      "num = \n",
      "34\n",
      "SENSOR 8 4.81973993711 -0.532538310746\n",
      "\n",
      "num = \n",
      "35\n",
      "SENSOR 1 0.981617551705 -0.742740691691\n",
      "\n",
      "num = \n",
      "36\n",
      "SENSOR 2 3.65363991018 0.717099015343\n",
      "\n",
      "num = \n",
      "37\n",
      "ODOMETRY 0.0477851306253 0.10000880302 7.14998356851e-05\n",
      "\n",
      "s =  19.50131970704858\n",
      "num = \n",
      "38\n",
      "SENSOR 8 4.69412317073 -0.714693990088\n",
      "\n",
      "num = \n",
      "39\n",
      "SENSOR 1 0.889692284132 -0.912768830535\n",
      "\n",
      "num = \n",
      "40\n",
      "SENSOR 2 3.27804121777 0.703988234457\n",
      "\n",
      "num = \n",
      "41\n",
      "ODOMETRY 0.100701996576 0.100266974551 -0.000335673561525\n",
      "\n",
      "s =  20.455524852230813\n",
      "num = \n",
      "42\n",
      "SENSOR 8 4.72028592939 -0.733173312299\n",
      "\n",
      "num = \n",
      "43\n",
      "SENSOR 1 1.11605364534 -1.03393225263\n",
      "\n",
      "num = \n",
      "44\n",
      "SENSOR 2 3.45317577132 0.704087914409\n",
      "\n",
      "num = \n",
      "45\n",
      "ODOMETRY 0.0988844296869 0.100202981841 0.000378182453029\n",
      "\n",
      "s =  22.371240384586553\n",
      "num = \n",
      "46\n",
      "SENSOR 8 4.51734791884 -0.886010778471\n",
      "\n",
      "num = \n",
      "47\n",
      "SENSOR 1 1.11737720049 -1.1471188092\n",
      "\n",
      "num = \n",
      "48\n",
      "SENSOR 2 3.26572508712 0.570889569998\n",
      "\n",
      "num = \n",
      "49\n",
      "ODOMETRY 0.0998739532533 0.100266124139 0.000519858056677\n",
      "\n",
      "s =  24.63001991656074\n",
      "num = \n",
      "50\n",
      "SENSOR 8 4.48462280222 -0.966606890106\n",
      "\n",
      "num = \n",
      "51\n",
      "SENSOR 1 1.06542968964 -1.42889713872\n",
      "\n",
      "num = \n",
      "52\n",
      "SENSOR 2 3.15296002235 0.438635736284\n",
      "\n",
      "num = \n",
      "53\n",
      "ODOMETRY 0.101017200244 0.10002018603 0.000179326208802\n",
      "\n",
      "s =  24.416584834518986\n",
      "num = \n",
      "54\n",
      "SENSOR 8 4.42687773375 -1.04100907153\n",
      "\n",
      "num = \n",
      "55\n",
      "SENSOR 1 1.14669960644 -1.65542831243\n",
      "\n",
      "num = \n",
      "56\n",
      "SENSOR 2 3.14207841959 0.245239278537\n",
      "\n",
      "num = \n",
      "57\n",
      "ODOMETRY -0.000365836723125 0.0998880602308 -0.000594119748269\n",
      "\n",
      "s =  19.26099999489081\n",
      "num = \n",
      "58\n",
      "SENSOR 8 4.32047834095 -1.07832072634\n",
      "\n",
      "num = \n",
      "59\n",
      "SENSOR 1 1.06665067311 -1.73396893097\n",
      "\n",
      "num = \n",
      "60\n",
      "SENSOR 2 3.16411445815 0.396562501153\n",
      "\n",
      "num = \n",
      "61\n",
      "ODOMETRY 0.0008560662579 0.100121149657 7.93199521286e-05\n",
      "\n",
      "s =  17.740638405994535\n",
      "num = \n",
      "62\n",
      "SENSOR 8 4.4083672026 -1.14242529491\n",
      "\n",
      "num = \n",
      "63\n",
      "SENSOR 1 1.07131973537 -1.83637005746\n",
      "\n",
      "num = \n",
      "64\n",
      "SENSOR 2 3.00608100632 0.319712149254\n",
      "\n",
      "num = \n",
      "65\n",
      "ODOMETRY -0.000502271364817 0.100002539984 -0.00132762186415\n",
      "\n",
      "s =  19.39768070361857\n",
      "num = \n",
      "66\n",
      "SENSOR 8 4.35625330918 -1.2120234075\n",
      "\n",
      "num = \n",
      "67\n",
      "SENSOR 1 1.06513750422 -1.93794562344\n",
      "\n",
      "num = \n",
      "68\n",
      "SENSOR 2 2.87221060659 0.348626462067\n",
      "\n",
      "num = \n",
      "69\n",
      "ODOMETRY -0.000286282657109 0.100075028742 0.000203427548137\n",
      "\n",
      "s =  22.96667864838892\n",
      "num = \n",
      "70\n",
      "SENSOR 8 4.51559801964 -1.20410559811\n",
      "\n",
      "num = \n",
      "71\n",
      "SENSOR 1 0.991259316949 -1.88047643431\n",
      "\n",
      "num = \n",
      "72\n",
      "SENSOR 2 2.67106017041 0.420072113582\n",
      "\n",
      "num = \n",
      "73\n",
      "ODOMETRY -0.000229750842955 0.0999046983329 -0.000311008934246\n",
      "\n",
      "s =  26.58987565795568\n",
      "num = \n",
      "74\n",
      "SENSOR 8 4.29006601943 -1.17446270466\n",
      "\n",
      "num = \n",
      "75\n",
      "SENSOR 1 1.36529827765 -2.02439155194\n",
      "\n",
      "num = \n",
      "76\n",
      "SENSOR 2 2.66150771637 0.330374996877\n",
      "\n",
      "num = \n",
      "77\n",
      "ODOMETRY -2.088438972e-05 0.0999273476833 -0.000906619975163\n",
      "\n",
      "s =  22.406408020611305\n",
      "num = \n",
      "78\n",
      "SENSOR 8 3.7897352465 -1.23619082762\n",
      "\n",
      "num = \n",
      "79\n",
      "SENSOR 1 1.29945714256 -2.18998039635\n",
      "\n",
      "num = \n",
      "80\n",
      "SENSOR 2 2.48856453888 0.411518511854\n",
      "\n",
      "num = \n",
      "81\n",
      "ODOMETRY 0.000630713715905 0.0999929809715 -0.00088863540781\n",
      "\n",
      "s =  25.719014456894346\n",
      "num = \n",
      "82\n",
      "SENSOR 8 4.14275835448 -1.25028829595\n",
      "\n",
      "num = \n",
      "83\n",
      "SENSOR 1 1.45807938719 -2.22435178719\n",
      "\n",
      "num = \n",
      "84\n",
      "SENSOR 2 2.48415492598 0.308694824537\n",
      "\n",
      "num = \n",
      "85\n",
      "ODOMETRY -0.000538797851558 0.0999807240428 0.000665952857479\n",
      "\n",
      "s =  18.15304853917762\n",
      "num = \n",
      "86\n",
      "SENSOR 8 4.05028730602 -1.28066149914\n",
      "\n",
      "num = \n",
      "87\n",
      "SENSOR 1 1.33772149638 -2.32919845808\n",
      "\n",
      "num = \n",
      "88\n",
      "SENSOR 2 2.35806514792 0.481592810084\n",
      "\n",
      "num = \n",
      "89\n",
      "ODOMETRY -8.8741587688e-05 0.0999338789141 -0.000901986689899\n",
      "\n",
      "s =  25.46589152802668\n",
      "num = \n",
      "90\n",
      "SENSOR 8 4.04371108694 -1.29215731784\n",
      "\n",
      "num = \n",
      "91\n",
      "SENSOR 1 1.18940017544 -2.41019003108\n",
      "\n",
      "num = \n",
      "92\n",
      "SENSOR 2 2.16402152809 0.452351184553\n",
      "\n",
      "num = \n",
      "93\n",
      "ODOMETRY -0.000399071169303 0.100024797529 -0.000652113436273\n",
      "\n",
      "s =  22.18369150893788\n",
      "num = \n",
      "94\n",
      "SENSOR 8 4.10875818018 -1.33626325627\n",
      "\n",
      "num = \n",
      "95\n",
      "SENSOR 1 1.31593071143 -2.40293052266\n",
      "\n",
      "num = \n",
      "96\n",
      "SENSOR 2 2.14045807623 0.453087751433\n",
      "\n",
      "num = \n",
      "97\n",
      "SENSOR 7 4.93702119825 -0.887304938531\n",
      "\n",
      "num = \n",
      "98\n",
      "ODOMETRY -0.00043400840481 0.100037176116 0.000262150218538\n",
      "\n",
      "s =  22.96815309188346\n",
      "num = \n",
      "99\n",
      "SENSOR 8 3.95492104925 -1.31959234338\n",
      "\n",
      "num = \n",
      "100\n",
      "SENSOR 1 1.53576092208 -2.38113023894\n",
      "\n",
      "num = \n",
      "101\n",
      "SENSOR 2 2.04053441362 0.509882611215\n",
      "\n",
      "num = \n",
      "102\n",
      "SENSOR 3 4.92762583186 -0.197579128478\n",
      "\n",
      "num = \n",
      "103\n",
      "SENSOR 7 4.70765464935 -1.01273735443\n",
      "\n",
      "num = \n",
      "104\n",
      "ODOMETRY 0.000128844342027 0.100007222031 0.000540536535221\n",
      "\n",
      "s =  24.4515504422301\n",
      "num = \n",
      "105\n",
      "SENSOR 8 4.12472878108 -1.25537520663\n",
      "\n",
      "num = \n",
      "106\n",
      "SENSOR 1 1.56341917385 -2.4022743318\n",
      "\n",
      "num = \n",
      "107\n",
      "SENSOR 2 2.12782879777 0.467055424497\n",
      "\n",
      "num = \n",
      "108\n",
      "SENSOR 3 4.77831543463 -0.21044106943\n",
      "\n",
      "num = \n",
      "109\n",
      "SENSOR 7 5.04959671206 -1.00574001321\n",
      "\n",
      "num = \n",
      "110\n",
      "ODOMETRY 0.000821221423713 0.0999700846902 0.000171960065645\n",
      "\n",
      "s =  17.043924007214255\n",
      "num = \n",
      "111\n",
      "SENSOR 8 4.22752752551 -1.31050867237\n",
      "\n",
      "num = \n",
      "112\n",
      "SENSOR 1 1.62887082761 -2.50044209724\n",
      "\n",
      "num = \n",
      "113\n",
      "SENSOR 2 1.85239319995 0.513976563887\n",
      "\n",
      "num = \n",
      "114\n",
      "SENSOR 3 4.62129014747 -0.238048739168\n",
      "\n",
      "num = \n",
      "115\n",
      "SENSOR 7 4.70116944256 -0.981694027961\n",
      "\n",
      "num = \n",
      "116\n",
      "ODOMETRY 3.63176433387e-05 0.0999889600374 -0.000387249853078\n",
      "\n",
      "s =  19.863515912842367\n",
      "num = \n",
      "117\n",
      "SENSOR 8 4.08620128191 -1.54706087119\n",
      "\n",
      "num = \n",
      "118\n",
      "SENSOR 1 1.82736412596 -2.53783272389\n",
      "\n",
      "num = \n",
      "119\n",
      "SENSOR 2 1.85255991133 0.693873709971\n",
      "\n",
      "num = \n",
      "120\n",
      "SENSOR 3 4.69635600333 -0.161117666304\n",
      "\n",
      "num = \n",
      "121\n",
      "SENSOR 7 4.56994398695 -0.90393316826\n",
      "\n",
      "num = \n",
      "122\n",
      "ODOMETRY -0.000630577066776 0.100058249368 0.000228230062552\n",
      "\n",
      "s =  26.672406137721797\n",
      "num = \n",
      "123\n",
      "SENSOR 8 3.99438249634 -1.47576779752\n",
      "\n",
      "num = \n",
      "124\n",
      "SENSOR 1 1.83211425373 -2.60514329637\n",
      "\n",
      "num = \n",
      "125\n",
      "SENSOR 2 1.64646955888 0.650588919246\n",
      "\n",
      "num = \n",
      "126\n",
      "SENSOR 3 4.53186429612 -0.24307956167\n",
      "\n",
      "num = \n",
      "127\n",
      "SENSOR 7 4.68735681738 -1.03155344577\n",
      "\n",
      "num = \n",
      "128\n",
      "ODOMETRY 0.000146895611028 0.0999768475843 9.48558153982e-05\n",
      "\n",
      "s =  22.407725693435392\n",
      "num = \n",
      "129\n",
      "SENSOR 8 4.08463534351 -1.45306826872\n",
      "\n",
      "num = \n",
      "130\n",
      "SENSOR 1 1.87917573809 -2.53187975867\n",
      "\n",
      "num = \n",
      "131\n",
      "SENSOR 2 1.69892666651 0.636859678124\n",
      "\n",
      "num = \n",
      "132\n",
      "SENSOR 3 4.64378623667 -0.215067229405\n",
      "\n",
      "num = \n",
      "133\n",
      "SENSOR 7 4.46736493689 -0.968365607561\n",
      "\n",
      "num = \n",
      "134\n",
      "ODOMETRY 0.00076898398192 0.100045462587 0.000349176972375\n",
      "\n",
      "s =  21.137253783223855\n",
      "num = \n",
      "135\n",
      "SENSOR 8 3.9234096328 -1.52597518099\n",
      "\n",
      "num = \n",
      "136\n",
      "SENSOR 1 2.07490012249 -2.59783030627\n",
      "\n",
      "num = \n",
      "137\n",
      "SENSOR 2 1.64842251689 0.650794978634\n",
      "\n",
      "num = \n",
      "138\n",
      "SENSOR 3 4.36581417522 -0.193899440989\n",
      "\n",
      "num = \n",
      "139\n",
      "SENSOR 7 4.58726333814 -0.95531696867\n",
      "\n",
      "num = \n",
      "140\n",
      "ODOMETRY -0.000346846003359 0.0999457293863 3.62888438338e-05\n",
      "\n",
      "s =  19.751632998786242\n",
      "num = \n",
      "141\n",
      "SENSOR 8 3.89002354289 -1.46740358605\n",
      "\n",
      "num = \n",
      "142\n",
      "SENSOR 1 2.05290616199 -2.5245893213\n",
      "\n",
      "num = \n",
      "143\n",
      "SENSOR 2 1.54865947041 0.780821379393\n",
      "\n",
      "num = \n",
      "144\n",
      "SENSOR 3 4.30361185065 -0.259214712149\n",
      "\n",
      "num = \n",
      "145\n",
      "SENSOR 7 4.57891258404 -1.04946672068\n",
      "\n",
      "num = \n",
      "146\n",
      "ODOMETRY -0.000337867691271 0.099983483764 7.4052901764e-05\n",
      "\n",
      "s =  25.402142705370167\n",
      "num = \n",
      "147\n",
      "SENSOR 8 4.08872951736 -1.4507987188\n",
      "\n",
      "num = \n",
      "148\n",
      "SENSOR 1 2.23474874132 -2.66437276168\n",
      "\n",
      "num = \n",
      "149\n",
      "SENSOR 2 1.47329973029 0.753628269663\n",
      "\n",
      "num = \n",
      "150\n",
      "SENSOR 3 4.11996922333 -0.254205778547\n",
      "\n",
      "num = \n",
      "151\n",
      "SENSOR 7 4.61927472263 -1.09600256261\n",
      "\n",
      "num = \n",
      "152\n",
      "ODOMETRY 0.000155094238789 0.0998424363998 0.000145117081085\n",
      "\n",
      "s =  21.604046662651168\n",
      "num = \n",
      "153\n",
      "SENSOR 8 4.01826082311 -1.69003829944\n",
      "\n",
      "num = \n",
      "154\n",
      "SENSOR 1 2.14684067939 -2.56316055159\n",
      "\n",
      "num = \n",
      "155\n",
      "SENSOR 2 1.34325763246 0.854947638575\n",
      "\n",
      "num = \n",
      "156\n",
      "SENSOR 3 4.16523223757 -0.181009231781\n",
      "\n",
      "num = \n",
      "157\n",
      "SENSOR 7 4.43418959305 -1.1520937784\n",
      "\n",
      "num = \n",
      "158\n",
      "ODOMETRY 0.000316806612408 0.100088512935 0.000437224694786\n",
      "\n",
      "s =  22.827473418051703\n",
      "num = \n",
      "159\n",
      "SENSOR 8 3.90575956629 -1.65206953702\n",
      "\n",
      "num = \n",
      "160\n",
      "SENSOR 1 2.26217194351 -2.64231170956\n",
      "\n",
      "num = \n",
      "161\n",
      "SENSOR 2 1.29185400214 0.872528113834\n",
      "\n",
      "num = \n",
      "162\n",
      "SENSOR 3 3.65582503043 -0.174487508097\n",
      "\n",
      "num = \n",
      "163\n",
      "SENSOR 7 4.46232141614 -1.03863758688\n",
      "\n",
      "num = \n",
      "164\n",
      "ODOMETRY 0.000396584140367 0.100051736586 0.000100341305886\n",
      "\n",
      "s =  20.270246275565928\n",
      "num = \n",
      "165\n",
      "SENSOR 8 4.1313715305 -1.62102566609\n",
      "\n",
      "num = \n",
      "166\n",
      "SENSOR 1 2.60845272066 -2.77267328297\n",
      "\n",
      "num = \n",
      "167\n",
      "SENSOR 2 1.25595442662 0.969413859717\n",
      "\n",
      "num = \n",
      "168\n",
      "SENSOR 3 3.76293968956 -0.324246891019\n",
      "\n",
      "num = \n",
      "169\n",
      "SENSOR 7 4.43637836801 -1.15220051975\n",
      "\n",
      "num = \n",
      "170\n",
      "ODOMETRY -0.000595072432269 0.100043086242 -9.59599659854e-05\n",
      "\n",
      "s =  23.234490621666914\n",
      "num = \n",
      "171\n",
      "SENSOR 8 3.95005202679 -1.66532032181\n",
      "\n",
      "num = \n",
      "172\n",
      "SENSOR 1 2.52421776227 -2.79521321592\n",
      "\n",
      "num = \n",
      "173\n",
      "SENSOR 2 1.02495220487 1.05450652378\n",
      "\n",
      "num = \n",
      "174\n",
      "SENSOR 3 3.788399518 -0.199392369648\n",
      "\n",
      "num = \n",
      "175\n",
      "SENSOR 7 4.41848195546 -1.16000555961\n",
      "\n",
      "num = \n",
      "176\n",
      "ODOMETRY 0.00020686630122 0.100003634137 0.000174284091117\n",
      "\n",
      "s =  15.483756242825791\n",
      "num = \n",
      "177\n",
      "SENSOR 8 4.21593691533 -1.67685218319\n",
      "\n",
      "num = \n",
      "178\n",
      "SENSOR 1 2.60572754814 -2.65058960288\n",
      "\n",
      "num = \n",
      "179\n",
      "SENSOR 2 1.21544936634 1.12650951115\n",
      "\n",
      "num = \n",
      "180\n",
      "SENSOR 3 3.57757108363 -0.282274152838\n",
      "\n",
      "num = \n",
      "181\n",
      "SENSOR 7 4.27811863545 -1.0866832728\n",
      "\n",
      "num = \n",
      "182\n",
      "ODOMETRY -1.58467883914e-05 0.100081198722 0.00111303377529\n",
      "\n",
      "s =  23.07985102340125\n",
      "num = \n",
      "183\n",
      "SENSOR 8 4.09213091309 -1.60270401945\n",
      "\n",
      "num = \n",
      "184\n",
      "SENSOR 1 2.63430303346 -2.69427801519\n",
      "\n",
      "num = \n",
      "185\n",
      "SENSOR 2 1.12271772393 1.23530150791\n",
      "\n",
      "num = \n",
      "186\n",
      "SENSOR 3 3.42171934399 -0.159380628456\n",
      "\n",
      "num = \n",
      "187\n",
      "SENSOR 7 4.10892282294 -1.15942258078\n",
      "\n",
      "num = \n",
      "188\n",
      "ODOMETRY 8.73535254527e-05 0.0998282270455 0.00069328150786\n",
      "\n",
      "s =  22.57094773009336\n",
      "num = \n",
      "189\n",
      "SENSOR 8 4.06691086507 -1.68618453971\n",
      "\n",
      "num = \n",
      "190\n",
      "SENSOR 1 3.00059912896 -2.75790958214\n",
      "\n",
      "num = \n",
      "191\n",
      "SENSOR 2 1.09784386495 1.28242184852\n",
      "\n",
      "num = \n",
      "192\n",
      "SENSOR 3 3.45975686006 -0.299947185097\n",
      "\n",
      "num = \n",
      "193\n",
      "SENSOR 7 4.21606938016 -1.22595917258\n",
      "\n",
      "num = \n",
      "194\n",
      "ODOMETRY 0.000347709121419 0.099989135925 -0.000327333915021\n",
      "\n",
      "s =  20.305350716330658\n",
      "num = \n",
      "195\n",
      "SENSOR 8 4.03145242185 -1.82234673079\n",
      "\n",
      "num = \n",
      "196\n",
      "SENSOR 1 2.7283132317 -2.72352129636\n",
      "\n",
      "num = \n",
      "197\n",
      "SENSOR 2 1.0986462142 1.3897370358\n",
      "\n",
      "num = \n",
      "198\n",
      "SENSOR 3 3.42280138704 -0.239939959662\n",
      "\n",
      "num = \n",
      "199\n",
      "SENSOR 7 4.13146027225 -1.33696155136\n",
      "\n",
      "num = \n",
      "200\n",
      "ODOMETRY 0.000215283651362 0.100135232465 -0.000156472578116\n",
      "\n",
      "s =  22.637070114090054\n",
      "num = \n",
      "201\n",
      "SENSOR 8 4.11191369814 -1.68045817644\n",
      "\n",
      "num = \n",
      "202\n",
      "SENSOR 1 2.88100750644 -2.8118558116\n",
      "\n",
      "num = \n",
      "203\n",
      "SENSOR 2 1.08422779189 1.53703938422\n",
      "\n",
      "num = \n",
      "204\n",
      "SENSOR 3 3.23802480967 -0.298865592222\n",
      "\n",
      "num = \n",
      "205\n",
      "SENSOR 7 3.92430059954 -1.2513495671\n",
      "\n",
      "num = \n",
      "206\n",
      "ODOMETRY 0.000699908948264 0.100123141021 8.42269932264e-05\n",
      "\n",
      "s =  25.523512239471756\n",
      "num = \n",
      "207\n",
      "SENSOR 8 4.18013359717 -1.83007015687\n",
      "\n",
      "num = \n",
      "208\n",
      "SENSOR 1 3.16496755595 -2.7249520262\n",
      "\n",
      "num = \n",
      "209\n",
      "SENSOR 2 1.03966888966 1.62190485432\n",
      "\n",
      "num = \n",
      "210\n",
      "SENSOR 3 2.95234868305 -0.298088061123\n",
      "\n",
      "num = \n",
      "211\n",
      "SENSOR 7 4.21869316896 -1.32396380556\n",
      "\n",
      "num = \n",
      "212\n",
      "ODOMETRY 0.000146304820974 0.100003610925 -0.000493262057944\n",
      "\n",
      "s =  23.528855228256283\n",
      "num = \n",
      "213\n",
      "SENSOR 8 3.94056561454 -1.72664932484\n",
      "\n",
      "num = \n",
      "214\n",
      "SENSOR 1 3.05585689241 -2.91606096339\n",
      "\n",
      "num = \n",
      "215\n",
      "SENSOR 2 0.970490294322 1.57869885547\n",
      "\n",
      "num = \n",
      "216\n",
      "SENSOR 3 3.06439059778 -0.220001471705\n",
      "\n",
      "num = \n",
      "217\n",
      "SENSOR 7 4.01722278831 -1.41192858073\n",
      "\n",
      "num = \n",
      "218\n",
      "ODOMETRY -0.000469753631854 0.0999812574125 -0.000349578928424\n",
      "\n",
      "s =  14.554772066436643\n",
      "num = \n",
      "219\n",
      "SENSOR 8 4.20081627072 -1.867694847\n",
      "\n",
      "num = \n",
      "220\n",
      "SENSOR 1 3.23655785274 -2.87531417208\n",
      "\n",
      "num = \n",
      "221\n",
      "SENSOR 2 1.09377220304 1.69758514255\n",
      "\n",
      "num = \n",
      "222\n",
      "SENSOR 3 3.02220023495 -0.285685020919\n",
      "\n",
      "num = \n",
      "223\n",
      "SENSOR 7 4.02951832899 -1.32970556995\n",
      "\n",
      "num = \n",
      "224\n",
      "ODOMETRY 0.000276223904826 0.0999191243284 0.00027679774922\n",
      "\n",
      "s =  18.86279575004448\n",
      "num = \n",
      "225\n",
      "SENSOR 8 4.14356263048 -1.81911384298\n",
      "\n",
      "num = \n",
      "226\n",
      "SENSOR 1 3.48850401338 -2.95308609631\n",
      "\n",
      "num = \n",
      "227\n",
      "SENSOR 2 1.21895537654 1.89695389158\n",
      "\n",
      "num = \n",
      "228\n",
      "SENSOR 3 2.95496296047 -0.412332155049\n",
      "\n",
      "num = \n",
      "229\n",
      "SENSOR 7 3.97851953254 -1.41850067197\n",
      "\n",
      "num = \n",
      "230\n",
      "ODOMETRY -0.000574110717379 0.100065895542 7.42975463624e-05\n",
      "\n",
      "s =  26.391172241814687\n",
      "num = \n",
      "231\n",
      "SENSOR 8 4.18713957935 -1.82903868679\n",
      "\n",
      "num = \n",
      "232\n",
      "SENSOR 1 3.58444208247 -2.90000922146\n",
      "\n",
      "num = \n",
      "233\n",
      "SENSOR 2 1.16617322329 1.96782799493\n",
      "\n",
      "num = \n",
      "234\n",
      "SENSOR 3 2.88587886236 -0.268132703406\n",
      "\n",
      "num = \n",
      "235\n",
      "SENSOR 7 3.95102456035 -1.33564546586\n",
      "\n",
      "num = \n",
      "236\n",
      "ODOMETRY -0.000303527754303 0.100036479249 0.000120679215337\n",
      "\n",
      "s =  24.5024032704847\n",
      "num = \n",
      "237\n",
      "SENSOR 8 4.33557776267 -1.8952309378\n",
      "\n",
      "num = \n",
      "238\n",
      "SENSOR 1 3.52266750074 -2.80565645025\n",
      "\n",
      "num = \n",
      "239\n",
      "SENSOR 2 1.33898342761 1.94318357339\n",
      "\n",
      "num = \n",
      "240\n",
      "SENSOR 3 2.75984351144 -0.321418220229\n",
      "\n",
      "num = \n",
      "241\n",
      "SENSOR 7 3.85028028576 -1.41218644398\n",
      "\n",
      "num = \n",
      "242\n",
      "ODOMETRY 0.000751190117815 0.0999465325627 2.66572044066e-05\n",
      "\n",
      "s =  20.945884778275953\n",
      "num = \n",
      "243\n",
      "SENSOR 8 4.26424281217 -1.9520550137\n",
      "\n",
      "num = \n",
      "244\n",
      "SENSOR 1 3.66960039519 -2.78902261198\n",
      "\n",
      "num = \n",
      "245\n",
      "SENSOR 2 1.29001437137 2.02420714627\n",
      "\n",
      "num = \n",
      "246\n",
      "SENSOR 3 2.44597865869 -0.360249984864\n",
      "\n",
      "num = \n",
      "247\n",
      "SENSOR 7 3.87719751917 -1.46755655546\n",
      "\n",
      "num = \n",
      "248\n",
      "ODOMETRY -0.000390692691475 0.0999675174117 -0.000328645323174\n",
      "\n",
      "s =  21.19922206784907\n",
      "num = \n",
      "249\n",
      "SENSOR 8 4.19365564063 -1.92471191989\n",
      "\n",
      "num = \n",
      "250\n",
      "SENSOR 1 3.71660371636 -2.89880167139\n",
      "\n",
      "num = \n",
      "251\n",
      "SENSOR 2 1.37478994828 2.16176166116\n",
      "\n",
      "num = \n",
      "252\n",
      "SENSOR 3 2.47105512001 -0.396498170735\n",
      "\n",
      "num = \n",
      "253\n",
      "SENSOR 7 3.93541932234 -1.40196408481\n",
      "\n",
      "num = \n",
      "254\n",
      "ODOMETRY 0.000430833763166 0.100121811301 0.000602791454338\n",
      "\n",
      "s =  25.624875167142527\n",
      "num = \n",
      "255\n",
      "SENSOR 8 4.26144588605 -1.91323096117\n",
      "\n",
      "num = \n",
      "256\n",
      "SENSOR 1 3.85015660938 -2.90642599378\n",
      "\n",
      "num = \n",
      "257\n",
      "SENSOR 2 1.18985055101 2.15081675827\n",
      "\n",
      "num = \n",
      "258\n",
      "SENSOR 3 2.35062966792 -0.378636021277\n",
      "\n",
      "num = \n",
      "259\n",
      "SENSOR 7 3.89718480758 -1.51976854624\n",
      "\n",
      "num = \n",
      "260\n",
      "ODOMETRY 0.000937171920785 0.100245067208 0.000107191286469\n",
      "\n",
      "s =  14.355007378471646\n",
      "num = \n",
      "261\n",
      "SENSOR 8 4.28845710797 -2.09358301713\n",
      "\n",
      "num = \n",
      "262\n",
      "SENSOR 1 4.06600959697 -2.79563059057\n",
      "\n",
      "num = \n",
      "263\n",
      "SENSOR 2 1.3548509133 2.34798014742\n",
      "\n",
      "num = \n",
      "264\n",
      "SENSOR 3 2.48881608082 -0.392958865925\n",
      "\n",
      "num = \n",
      "265\n",
      "SENSOR 7 3.99866282902 -1.54883009876\n",
      "\n",
      "num = \n",
      "266\n",
      "ODOMETRY -2.08571269898e-05 0.100022875113 -0.000549373331383\n",
      "\n",
      "s =  20.40617017506431\n",
      "num = \n",
      "267\n",
      "SENSOR 8 4.31270408799 -1.94888011457\n",
      "\n",
      "num = \n",
      "268\n",
      "SENSOR 1 4.15616130461 -2.85845991979\n",
      "\n",
      "num = \n",
      "269\n",
      "SENSOR 2 1.38704444255 2.46415446871\n",
      "\n",
      "num = \n",
      "270\n",
      "SENSOR 3 2.43826269367 -0.423200342444\n",
      "\n",
      "num = \n",
      "271\n",
      "SENSOR 7 4.00207196533 -1.66511690649\n",
      "\n",
      "num = \n",
      "272\n",
      "ODOMETRY -0.000454916674554 0.100046929065 -0.00012276577809\n",
      "\n",
      "s =  17.432543017132716\n",
      "num = \n",
      "273\n",
      "SENSOR 8 4.43851339693 -2.03638342055\n",
      "\n",
      "num = \n",
      "274\n",
      "SENSOR 1 4.23779263643 -2.85493213715\n",
      "\n",
      "num = \n",
      "275\n",
      "SENSOR 2 1.62658867011 2.3853781078\n",
      "\n",
      "num = \n",
      "276\n",
      "SENSOR 3 2.14575738813 -0.355438087834\n",
      "\n",
      "num = \n",
      "277\n",
      "SENSOR 7 3.98832656572 -1.63602315106\n",
      "\n",
      "num = \n",
      "278\n",
      "ODOMETRY 0.000568841652529 0.100043527909 0.00019421411033\n",
      "\n",
      "s =  26.604960727939652\n",
      "num = \n",
      "279\n",
      "SENSOR 8 4.43038399555 -2.1467659026\n",
      "\n",
      "num = \n",
      "280\n",
      "SENSOR 1 4.27289589106 -2.86194579381\n",
      "\n",
      "num = \n",
      "281\n",
      "SENSOR 2 1.33070128652 2.4284133944\n",
      "\n",
      "num = \n",
      "282\n",
      "SENSOR 3 1.97515517236 -0.453893945683\n",
      "\n",
      "num = \n",
      "283\n",
      "SENSOR 7 3.87027187105 -1.49347027146\n",
      "\n",
      "num = \n",
      "284\n",
      "ODOMETRY 0.000351618401646 0.100050950039 -0.000824288478843\n",
      "\n",
      "s =  11.49577734102219\n",
      "num = \n",
      "285\n",
      "SENSOR 8 4.48932994637 -2.22079042429\n",
      "\n",
      "num = \n",
      "286\n",
      "SENSOR 1 4.32454032196 -2.93268395418\n",
      "\n",
      "num = \n",
      "287\n",
      "SENSOR 2 1.65047048587 2.41884928933\n",
      "\n",
      "num = \n",
      "288\n",
      "SENSOR 3 1.9499357512 -0.490942842041\n",
      "\n",
      "num = \n",
      "289\n",
      "SENSOR 7 3.92936577095 -1.61796315681\n",
      "\n",
      "num = \n",
      "290\n",
      "ODOMETRY -0.00064766761664 0.0997704211983 0.000143709358101\n",
      "\n",
      "s =  20.017739617909555\n",
      "num = \n",
      "291\n",
      "SENSOR 8 4.58046419275 -2.11793421939\n",
      "\n",
      "num = \n",
      "292\n",
      "SENSOR 1 4.36825197989 -2.94339559654\n",
      "\n",
      "num = \n",
      "293\n",
      "SENSOR 2 1.64230522814 2.55865273625\n",
      "\n",
      "num = \n",
      "294\n",
      "SENSOR 3 1.85882740532 -0.543749403929\n",
      "\n",
      "num = \n",
      "295\n",
      "SENSOR 7 3.9834057962 -1.58472664275\n",
      "\n",
      "num = \n",
      "296\n",
      "ODOMETRY -0.000153526720823 0.10006846962 -0.000337334675384\n",
      "\n",
      "s =  15.676880077854062\n",
      "num = \n",
      "297\n",
      "SENSOR 8 4.71971548591 -2.19042750886\n",
      "\n",
      "num = \n",
      "298\n",
      "SENSOR 1 4.53675498426 -2.85909082975\n",
      "\n",
      "num = \n",
      "299\n",
      "SENSOR 2 1.82937908884 2.54501038816\n",
      "\n",
      "num = \n",
      "300\n",
      "SENSOR 3 1.93879574485 -0.417357184106\n",
      "\n",
      "num = \n",
      "301\n",
      "SENSOR 7 3.96764171359 -1.72431501224\n",
      "\n",
      "num = \n",
      "302\n",
      "ODOMETRY 2.96783947095e-05 0.0998645608421 0.000289155191736\n",
      "\n",
      "s =  21.432950197781825\n",
      "num = \n",
      "303\n",
      "SENSOR 8 4.75422256663 -2.15763842745\n",
      "\n",
      "num = \n",
      "304\n",
      "SENSOR 1 4.57357716297 -2.90716714991\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "305\n",
      "SENSOR 2 2.06294912659 2.59325343834\n",
      "\n",
      "num = \n",
      "306\n",
      "SENSOR 3 1.67288678091 -0.569977333256\n",
      "\n",
      "num = \n",
      "307\n",
      "SENSOR 7 3.99139693975 -1.70109563201\n",
      "\n",
      "num = \n",
      "308\n",
      "ODOMETRY -0.000357584503237 0.0999979583461 0.000343433781639\n",
      "\n",
      "s =  26.87972942933558\n",
      "num = \n",
      "309\n",
      "SENSOR 8 4.72304180002 -2.152587981\n",
      "\n",
      "num = \n",
      "310\n",
      "SENSOR 1 5.0500335413 -2.8658344534\n",
      "\n",
      "num = \n",
      "311\n",
      "SENSOR 2 1.98255100087 2.63765385437\n",
      "\n",
      "num = \n",
      "312\n",
      "SENSOR 3 1.73494869541 -0.681218262697\n",
      "\n",
      "num = \n",
      "313\n",
      "SENSOR 7 3.99801441934 -1.82089872357\n",
      "\n",
      "num = \n",
      "314\n",
      "ODOMETRY 0.000620290476892 0.0999470003878 -0.000838335967095\n",
      "\n",
      "s =  20.007795934068543\n",
      "num = \n",
      "315\n",
      "SENSOR 8 4.82000162046 -2.17663416724\n",
      "\n",
      "num = \n",
      "316\n",
      "SENSOR 1 4.7896984766 -2.93673143552\n",
      "\n",
      "num = \n",
      "317\n",
      "SENSOR 2 2.09267316967 2.67055169125\n",
      "\n",
      "num = \n",
      "318\n",
      "SENSOR 3 1.66678325737 -0.602963490775\n",
      "\n",
      "num = \n",
      "319\n",
      "SENSOR 7 4.01771495745 -1.69028901209\n",
      "\n",
      "num = \n",
      "320\n",
      "ODOMETRY 0.000382389454005 0.100008694003 -0.000235027366354\n",
      "\n",
      "s =  21.466853149146957\n",
      "num = \n",
      "321\n",
      "SENSOR 8 5.04318864619 -2.22282624467\n",
      "\n",
      "num = \n",
      "322\n",
      "SENSOR 1 4.90043577351 -2.93806965482\n",
      "\n",
      "num = \n",
      "323\n",
      "SENSOR 2 2.07615512453 2.67131705355\n",
      "\n",
      "num = \n",
      "324\n",
      "SENSOR 3 1.31586087173 -0.745758611631\n",
      "\n",
      "num = \n",
      "325\n",
      "SENSOR 7 3.92899619206 -1.73714423279\n",
      "\n",
      "num = \n",
      "326\n",
      "ODOMETRY -1.84395846507e-05 0.100015474461 -0.000514385173899\n",
      "\n",
      "s =  15.742957662323937\n",
      "num = \n",
      "327\n",
      "SENSOR 8 4.98826017668 -2.27039501618\n",
      "\n",
      "num = \n",
      "328\n",
      "SENSOR 9 4.81047660567 -0.805804164487\n",
      "\n",
      "num = \n",
      "329\n",
      "SENSOR 2 2.22230602404 2.6041674324\n",
      "\n",
      "num = \n",
      "330\n",
      "SENSOR 3 1.48831597213 -0.723975926163\n",
      "\n",
      "num = \n",
      "331\n",
      "SENSOR 7 4.08621450402 -1.82319354899\n",
      "\n",
      "num = \n",
      "332\n",
      "ODOMETRY 3.57442872214e-05 0.099849482409 -0.00105747056724\n",
      "\n",
      "s =  17.88379796693019\n",
      "num = \n",
      "333\n",
      "SENSOR 8 5.24777410731 -2.22368070807\n",
      "\n",
      "num = \n",
      "334\n",
      "SENSOR 9 4.87521200347 -0.898436213614\n",
      "\n",
      "num = \n",
      "335\n",
      "SENSOR 2 2.55748708263 2.71176061758\n",
      "\n",
      "num = \n",
      "336\n",
      "SENSOR 3 1.2838992006 -0.801058095512\n",
      "\n",
      "num = \n",
      "337\n",
      "SENSOR 7 3.93963818013 -1.81428858108\n",
      "\n",
      "num = \n",
      "338\n",
      "ODOMETRY -0.000227849495201 0.100052037289 0.000638692661208\n",
      "\n",
      "s =  25.875634183860143\n",
      "num = \n",
      "339\n",
      "SENSOR 9 4.77739612534 -0.858203342542\n",
      "\n",
      "num = \n",
      "340\n",
      "SENSOR 2 2.51769849113 2.67416607463\n",
      "\n",
      "num = \n",
      "341\n",
      "SENSOR 3 1.24645217892 -0.852893599077\n",
      "\n",
      "num = \n",
      "342\n",
      "SENSOR 7 4.03471989557 -1.8113886332\n",
      "\n",
      "num = \n",
      "343\n",
      "ODOMETRY -0.000159615464035 0.100138867779 -9.50566744297e-05\n",
      "\n",
      "s =  22.76647167388033\n",
      "num = \n",
      "344\n",
      "SENSOR 9 4.85310064919 -0.958324651792\n",
      "\n",
      "num = \n",
      "345\n",
      "SENSOR 2 2.41599610928 2.73803779326\n",
      "\n",
      "num = \n",
      "346\n",
      "SENSOR 3 1.1553906277 -0.952297527875\n",
      "\n",
      "num = \n",
      "347\n",
      "SENSOR 7 4.05847660943 -1.83829462387\n",
      "\n",
      "num = \n",
      "348\n",
      "ODOMETRY 0.000397083245112 0.0999345504925 -0.000473283143359\n",
      "\n",
      "s =  13.96713920307834\n",
      "num = \n",
      "349\n",
      "SENSOR 9 4.83134105102 -0.987132642593\n",
      "\n",
      "num = \n",
      "350\n",
      "SENSOR 2 2.66361378317 2.73601068382\n",
      "\n",
      "num = \n",
      "351\n",
      "SENSOR 3 1.18927270664 -0.98716043606\n",
      "\n",
      "num = \n",
      "352\n",
      "SENSOR 7 4.1162336909 -1.8197753718\n",
      "\n",
      "num = \n",
      "353\n",
      "ODOMETRY -0.000125470763969 0.0999261518626 -0.000151801883516\n",
      "\n",
      "s =  21.169979344373075\n",
      "num = \n",
      "354\n",
      "SENSOR 9 4.61875783758 -0.96518540751\n",
      "\n",
      "num = \n",
      "355\n",
      "SENSOR 2 2.62689728182 2.80385923962\n",
      "\n",
      "num = \n",
      "356\n",
      "SENSOR 3 1.11000285571 -1.04644745072\n",
      "\n",
      "num = \n",
      "357\n",
      "SENSOR 7 4.1856772061 -1.91465824865\n",
      "\n",
      "num = \n",
      "358\n",
      "ODOMETRY 0.00051674063446 0.099933808971 -0.000213359494977\n",
      "\n",
      "s =  14.155059867625699\n",
      "num = \n",
      "359\n",
      "SENSOR 9 4.5731217484 -0.933596753478\n",
      "\n",
      "num = \n",
      "360\n",
      "SENSOR 2 2.79358478206 2.72787132071\n",
      "\n",
      "num = \n",
      "361\n",
      "SENSOR 3 1.04564028404 -1.15145302954\n",
      "\n",
      "num = \n",
      "362\n",
      "SENSOR 7 4.20296979125 -1.95525531732\n",
      "\n",
      "num = \n",
      "363\n",
      "ODOMETRY -0.00971501482375 0.100264271897 -0.020113587118\n",
      "\n",
      "s =  18.905294481769335\n",
      "num = \n",
      "364\n",
      "SENSOR 9 4.50708334614 -0.981596648297\n",
      "\n",
      "num = \n",
      "365\n",
      "SENSOR 2 2.64093768252 2.82678324621\n",
      "\n",
      "num = \n",
      "366\n",
      "SENSOR 3 0.95745692747 -1.2021717145\n",
      "\n",
      "num = \n",
      "367\n",
      "SENSOR 7 4.0404572769 -1.91753735617\n",
      "\n",
      "num = \n",
      "368\n",
      "ODOMETRY -0.00979495269449 0.100207385382 -0.0207193396613\n",
      "\n",
      "s =  11.327543536409244\n",
      "num = \n",
      "369\n",
      "SENSOR 9 4.44133108151 -0.970900207211\n",
      "\n",
      "num = \n",
      "370\n",
      "SENSOR 2 2.84252616526 2.90235411969\n",
      "\n",
      "num = \n",
      "371\n",
      "SENSOR 3 0.820475495838 -1.26439366844\n",
      "\n",
      "num = \n",
      "372\n",
      "SENSOR 7 4.26066485438 -1.97960439924\n",
      "\n",
      "num = \n",
      "373\n",
      "ODOMETRY -0.00945840733493 0.0997416363672 -0.0192691302392\n",
      "\n",
      "s =  13.050340799721571\n",
      "num = \n",
      "374\n",
      "SENSOR 9 4.41905818722 -1.01347587135\n",
      "\n",
      "num = \n",
      "375\n",
      "SENSOR 2 3.25151909845 2.89909215002\n",
      "\n",
      "num = \n",
      "376\n",
      "SENSOR 3 0.824161542229 -1.26947648389\n",
      "\n",
      "num = \n",
      "377\n",
      "SENSOR 7 4.21167767586 -1.94951052841\n",
      "\n",
      "num = \n",
      "378\n",
      "ODOMETRY -0.0107896472019 0.0999622994726 -0.0203196033722\n",
      "\n",
      "s =  26.13982765265782\n",
      "num = \n",
      "379\n",
      "SENSOR 9 4.38016182003 -0.919127600281\n",
      "\n",
      "num = \n",
      "380\n",
      "SENSOR 2 3.25239531645 2.96551176917\n",
      "\n",
      "num = \n",
      "381\n",
      "SENSOR 3 0.799168421998 -1.34825194752\n",
      "\n",
      "num = \n",
      "382\n",
      "SENSOR 7 4.41379167865 -1.94690314498\n",
      "\n",
      "num = \n",
      "383\n",
      "ODOMETRY -0.0100929823651 0.0998830113911 -0.0214368042763\n",
      "\n",
      "s =  23.30404653422632\n",
      "num = \n",
      "384\n",
      "SENSOR 9 4.21366414637 -0.874094540558\n",
      "\n",
      "num = \n",
      "385\n",
      "SENSOR 2 3.25704262584 2.89943426572\n",
      "\n",
      "num = \n",
      "386\n",
      "SENSOR 3 0.933342221183 -1.458812128\n",
      "\n",
      "num = \n",
      "387\n",
      "SENSOR 7 4.25311990359 -1.8881350549\n",
      "\n",
      "num = \n",
      "388\n",
      "ODOMETRY -0.0102199225278 0.100122404777 -0.0195817297686\n",
      "\n",
      "s =  18.410169626620206\n",
      "num = \n",
      "389\n",
      "SENSOR 9 4.29400385507 -0.896845582069\n",
      "\n",
      "num = \n",
      "390\n",
      "SENSOR 2 3.36123238917 3.07001461157\n",
      "\n",
      "num = \n",
      "391\n",
      "SENSOR 3 0.883190136452 -1.55236329859\n",
      "\n",
      "num = \n",
      "392\n",
      "SENSOR 7 4.39258300277 -1.85095546334\n",
      "\n",
      "num = \n",
      "393\n",
      "ODOMETRY -0.0102103462979 0.100022996897 -0.0194894273573\n",
      "\n",
      "s =  17.557937954164515\n",
      "num = \n",
      "394\n",
      "SENSOR 9 4.29633583493 -0.887367583474\n",
      "\n",
      "num = \n",
      "395\n",
      "SENSOR 2 3.52280331378 3.04417535495\n",
      "\n",
      "num = \n",
      "396\n",
      "SENSOR 3 1.02605707606 -1.5599567465\n",
      "\n",
      "num = \n",
      "397\n",
      "SENSOR 7 4.51584958025 -1.90962202394\n",
      "\n",
      "num = \n",
      "398\n",
      "ODOMETRY -0.0101219143048 0.0999593379999 -0.01903292462\n",
      "\n",
      "s =  21.622459947045527\n",
      "num = \n",
      "399\n",
      "SENSOR 9 4.16209895112 -0.947187127915\n",
      "\n",
      "num = \n",
      "400\n",
      "SENSOR 2 3.71418266147 2.96127369837\n",
      "\n",
      "num = \n",
      "401\n",
      "SENSOR 3 0.814318982694 -1.74701297142\n",
      "\n",
      "num = \n",
      "402\n",
      "SENSOR 7 4.40269147314 -1.91371592888\n",
      "\n",
      "num = \n",
      "403\n",
      "ODOMETRY -0.0102675093098 0.0999663112719 -0.020828582237\n",
      "\n",
      "s =  24.502823971260295\n",
      "num = \n",
      "404\n",
      "SENSOR 9 4.21508985997 -0.919004105021\n",
      "\n",
      "num = \n",
      "405\n",
      "SENSOR 2 3.65228598194 3.13422359082\n",
      "\n",
      "num = \n",
      "406\n",
      "SENSOR 3 0.785942815706 -1.80341299282\n",
      "\n",
      "num = \n",
      "407\n",
      "SENSOR 7 4.4121500124 -1.81796805203\n",
      "\n",
      "num = \n",
      "408\n",
      "ODOMETRY -0.00993610685506 0.0998518398745 -0.0196774541201\n",
      "\n",
      "s =  17.66861222256011\n",
      "num = \n",
      "409\n",
      "SENSOR 9 4.04294692156 -0.861279885\n",
      "\n",
      "num = \n",
      "410\n",
      "SENSOR 2 3.62963253555 3.11270753834\n",
      "\n",
      "num = \n",
      "411\n",
      "SENSOR 3 0.764603294406 -1.85046986826\n",
      "\n",
      "num = \n",
      "412\n",
      "SENSOR 7 4.5150733283 -1.79594989537\n",
      "\n",
      "num = \n",
      "413\n",
      "ODOMETRY -0.00920022650555 0.0997422621128 -0.0205361764911\n",
      "\n",
      "s =  13.443789264937642\n",
      "num = \n",
      "414\n",
      "SENSOR 9 4.15239188263 -0.970342867078\n",
      "\n",
      "num = \n",
      "415\n",
      "SENSOR 2 4.03536781642 -3.18307097898\n",
      "\n",
      "num = \n",
      "416\n",
      "SENSOR 3 0.959547230588 -1.90274929341\n",
      "\n",
      "num = \n",
      "417\n",
      "SENSOR 7 4.62912917937 -1.84220062871\n",
      "\n",
      "num = \n",
      "418\n",
      "ODOMETRY -0.00942062964629 0.100105598827 -0.0201986285946\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "419\n",
      "SENSOR 9 3.86218828017 -0.820203419523\n",
      "\n",
      "num = \n",
      "420\n",
      "SENSOR 2 3.98904457506 -3.1015168922\n",
      "\n",
      "num = \n",
      "421\n",
      "SENSOR 3 0.972317263121 -2.02451017468\n",
      "\n",
      "num = \n",
      "422\n",
      "SENSOR 7 4.759816508 -1.77763480945\n",
      "\n",
      "num = \n",
      "423\n",
      "ODOMETRY -0.0100879322846 0.100124216817 -0.0204597213095\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "424\n",
      "SENSOR 9 3.84507226677 -0.756780522484\n",
      "\n",
      "num = \n",
      "425\n",
      "SENSOR 2 4.02861108492 -3.10602711471\n",
      "\n",
      "num = \n",
      "426\n",
      "SENSOR 3 0.864967710233 -2.11102791755\n",
      "\n",
      "num = \n",
      "427\n",
      "SENSOR 7 4.57459493047 -1.80826633165\n",
      "\n",
      "num = \n",
      "428\n",
      "ODOMETRY -0.0101517088617 0.100135474519 -0.0205790775163\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "429\n",
      "SENSOR 9 3.72477683615 -0.806235518925\n",
      "\n",
      "num = \n",
      "430\n",
      "SENSOR 2 4.16243598106 -2.99518962392\n",
      "\n",
      "num = \n",
      "431\n",
      "SENSOR 3 1.04719137655 -2.03651068405\n",
      "\n",
      "num = \n",
      "432\n",
      "SENSOR 7 4.52321512866 -1.79913713944\n",
      "\n",
      "num = \n",
      "433\n",
      "ODOMETRY -0.00971823850713 0.0999199480028 -0.0204816547407\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "434\n",
      "SENSOR 9 3.64162047434 -0.88616331853\n",
      "\n",
      "num = \n",
      "435\n",
      "SENSOR 2 4.36302387232 -2.92568022823\n",
      "\n",
      "num = \n",
      "436\n",
      "SENSOR 3 1.22928347043 -2.10617157821\n",
      "\n",
      "num = \n",
      "437\n",
      "SENSOR 7 4.62149400694 -1.70648061283\n",
      "\n",
      "num = \n",
      "438\n",
      "ODOMETRY -0.0111880765417 0.100054827041 -0.0203982555608\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "439\n",
      "SENSOR 9 3.73629007345 -0.855429384037\n",
      "\n",
      "num = \n",
      "440\n",
      "SENSOR 2 4.48880762822 -2.98992498419\n",
      "\n",
      "num = \n",
      "441\n",
      "SENSOR 3 1.32740155875 -2.1557754481\n",
      "\n",
      "num = \n",
      "442\n",
      "SENSOR 7 4.7595820948 -1.73437714859\n",
      "\n",
      "num = \n",
      "443\n",
      "ODOMETRY -0.00973489400755 0.0999924383931 -0.0209377588456\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "444\n",
      "SENSOR 9 3.77039951769 -0.771226097345\n",
      "\n",
      "num = \n",
      "445\n",
      "SENSOR 2 4.54478520448 -2.96315453347\n",
      "\n",
      "num = \n",
      "446\n",
      "SENSOR 3 1.18357886708 -2.28360538355\n",
      "\n",
      "num = \n",
      "447\n",
      "SENSOR 7 4.64536305531 -1.74239721557\n",
      "\n",
      "num = \n",
      "448\n",
      "ODOMETRY -0.0100121786852 0.10025678063 -0.0196394863452\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "449\n",
      "SENSOR 9 3.73404973174 -0.756291343127\n",
      "\n",
      "num = \n",
      "450\n",
      "SENSOR 2 4.61556478289 -2.91192792603\n",
      "\n",
      "num = \n",
      "451\n",
      "SENSOR 3 1.43954214415 -2.31929975771\n",
      "\n",
      "num = \n",
      "452\n",
      "SENSOR 7 4.78353870157 -1.67530247364\n",
      "\n",
      "num = \n",
      "453\n",
      "ODOMETRY -0.0104058123165 0.0999078340161 -0.0209340715081\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "454\n",
      "SENSOR 9 3.47519442671 -0.74040904798\n",
      "\n",
      "num = \n",
      "455\n",
      "SENSOR 2 4.65651656296 -2.79673717715\n",
      "\n",
      "num = \n",
      "456\n",
      "SENSOR 3 1.41028301965 -2.30057582506\n",
      "\n",
      "num = \n",
      "457\n",
      "SENSOR 7 4.61708819357 -1.7142056919\n",
      "\n",
      "num = \n",
      "458\n",
      "ODOMETRY -0.0101442422432 0.0998042353315 -0.0207318624199\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "459\n",
      "SENSOR 9 3.42547727638 -0.810330212894\n",
      "\n",
      "num = \n",
      "460\n",
      "SENSOR 2 4.74768100721 -2.8865220224\n",
      "\n",
      "num = \n",
      "461\n",
      "SENSOR 3 1.45281583609 -2.34890487945\n",
      "\n",
      "num = \n",
      "462\n",
      "SENSOR 7 4.77378177865 -1.69555592571\n",
      "\n",
      "num = \n",
      "463\n",
      "ODOMETRY -0.0102211646023 0.0999251579643 -0.0207790757232\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "464\n",
      "SENSOR 9 3.43224659745 -0.821374368952\n",
      "\n",
      "num = \n",
      "465\n",
      "SENSOR 2 4.80086183808 -2.86419776111\n",
      "\n",
      "num = \n",
      "466\n",
      "SENSOR 3 1.46573078577 -2.3325545795\n",
      "\n",
      "num = \n",
      "467\n",
      "SENSOR 7 4.72053144783 -1.71266326326\n",
      "\n",
      "num = \n",
      "468\n",
      "ODOMETRY -0.0102754252738 0.0999975530931 -0.0203595740683\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "469\n",
      "SENSOR 9 3.29389498065 -0.783789486252\n",
      "\n",
      "num = \n",
      "470\n",
      "SENSOR 2 4.85229132571 -2.80515709507\n",
      "\n",
      "num = \n",
      "471\n",
      "SENSOR 3 1.51312022187 -2.43758325042\n",
      "\n",
      "num = \n",
      "472\n",
      "SENSOR 7 4.75783246842 -1.72532501206\n",
      "\n",
      "num = \n",
      "473\n",
      "ODOMETRY -0.0103809832051 0.0998620778632 -0.0208296162858\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "474\n",
      "SENSOR 9 3.14745442326 -0.713780260596\n",
      "\n",
      "num = \n",
      "475\n",
      "SENSOR 3 1.66244648686 -2.32807661561\n",
      "\n",
      "num = \n",
      "476\n",
      "SENSOR 7 4.76953032246 -1.75137410971\n",
      "\n",
      "num = \n",
      "477\n",
      "ODOMETRY -0.00929254465495 0.100066485581 -0.0201838054256\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "478\n",
      "SENSOR 9 3.12096302703 -0.743186941568\n",
      "\n",
      "num = \n",
      "479\n",
      "SENSOR 3 1.66093118311 -2.32042340287\n",
      "\n",
      "num = \n",
      "480\n",
      "SENSOR 7 4.74328322642 -1.70736335902\n",
      "\n",
      "num = \n",
      "481\n",
      "ODOMETRY -0.0105112165595 0.0999963617275 -0.019982049759\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "482\n",
      "SENSOR 9 2.83281736762 -0.762352819884\n",
      "\n",
      "num = \n",
      "483\n",
      "SENSOR 3 1.98193438924 -2.39751311729\n",
      "\n",
      "num = \n",
      "484\n",
      "SENSOR 7 4.91772376321 -1.81704355771\n",
      "\n",
      "num = \n",
      "485\n",
      "ODOMETRY -0.00997178159358 0.10007277842 -0.0204165193727\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "486\n",
      "SENSOR 9 3.13834733707 -0.772566714417\n",
      "\n",
      "num = \n",
      "487\n",
      "SENSOR 3 1.83487760385 -2.33603987057\n",
      "\n",
      "num = \n",
      "488\n",
      "SENSOR 7 4.83543172801 -1.71432653343\n",
      "\n",
      "num = \n",
      "489\n",
      "ODOMETRY -0.00997485488938 0.10008927649 -0.0205752160593\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "490\n",
      "SENSOR 9 2.83670692168 -0.756396130009\n",
      "\n",
      "num = \n",
      "491\n",
      "SENSOR 3 2.01548451506 -2.38530065891\n",
      "\n",
      "num = \n",
      "492\n",
      "SENSOR 7 4.7278151721 -1.72434228152\n",
      "\n",
      "num = \n",
      "493\n",
      "ODOMETRY -0.00999956312656 0.0999843485035 -0.0203841266107\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "494\n",
      "SENSOR 9 2.82178371405 -0.72337614438\n",
      "\n",
      "num = \n",
      "495\n",
      "SENSOR 3 2.13509987926 -2.41071162621\n",
      "\n",
      "num = \n",
      "496\n",
      "SENSOR 7 4.85076805645 -1.69252423587\n",
      "\n",
      "num = \n",
      "497\n",
      "ODOMETRY -0.00852336100511 0.0999751603682 -0.0211916944332\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "498\n",
      "SENSOR 9 2.81781440496 -0.707830447583\n",
      "\n",
      "num = \n",
      "499\n",
      "SENSOR 3 2.15429524819 -2.33737596918\n",
      "\n",
      "num = \n",
      "500\n",
      "SENSOR 7 4.93819684908 -1.67303442489\n",
      "\n",
      "num = \n",
      "501\n",
      "ODOMETRY -0.00965027219075 0.100288805578 -0.0193228609635\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "502\n",
      "SENSOR 9 2.70652259944 -0.770867163479\n",
      "\n",
      "num = \n",
      "503\n",
      "SENSOR 3 1.98532644731 -2.40121615474\n",
      "\n",
      "num = \n",
      "504\n",
      "SENSOR 7 4.85874459717 -1.60635832006\n",
      "\n",
      "num = \n",
      "505\n",
      "ODOMETRY -0.0102814831601 0.0999564906 -0.0192399073969\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "506\n",
      "SENSOR 9 2.53658906194 -0.759239403864\n",
      "\n",
      "num = \n",
      "507\n",
      "SENSOR 3 2.53388129973 -2.38165614076\n",
      "\n",
      "num = \n",
      "508\n",
      "SENSOR 7 4.98552649704 -1.6218876007\n",
      "\n",
      "num = \n",
      "509\n",
      "ODOMETRY -0.0100748645886 0.100005491921 -0.019984859525\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "510\n",
      "SENSOR 9 2.43367683943 -0.697255466686\n",
      "\n",
      "num = \n",
      "511\n",
      "SENSOR 3 2.39414891757 -2.41443846459\n",
      "\n",
      "num = \n",
      "512\n",
      "SENSOR 7 4.9834316653 -1.61655922477\n",
      "\n",
      "num = \n",
      "513\n",
      "ODOMETRY -0.00985490594572 0.0999352845265 -0.0202863994368\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "514\n",
      "SENSOR 9 2.38853922706 -0.750617843431\n",
      "\n",
      "num = \n",
      "515\n",
      "SENSOR 3 2.34807142014 -2.40236329019\n",
      "\n",
      "num = \n",
      "516\n",
      "SENSOR 7 4.84956880083 -1.65706803563\n",
      "\n",
      "num = \n",
      "517\n",
      "ODOMETRY -0.00981497648521 0.10005706037 -0.0205293727414\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "518\n",
      "SENSOR 9 2.30513859809 -0.713795376745\n",
      "\n",
      "num = \n",
      "519\n",
      "SENSOR 3 2.52885953187 -2.36395323664\n",
      "\n",
      "num = \n",
      "520\n",
      "SENSOR 7 4.80035289011 -1.62357491293\n",
      "\n",
      "num = \n",
      "521\n",
      "ODOMETRY -0.0101980896331 0.100218877764 -0.020478262674\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "522\n",
      "SENSOR 9 2.30283082388 -0.715567562415\n",
      "\n",
      "num = \n",
      "523\n",
      "SENSOR 3 2.60815965834 -2.29118817018\n",
      "\n",
      "num = \n",
      "524\n",
      "SENSOR 7 4.98343250586 -1.6729452571\n",
      "\n",
      "num = \n",
      "525\n",
      "ODOMETRY -0.0101283711756 0.0998195862677 -0.0192700277528\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "526\n",
      "SENSOR 9 2.13536202595 -0.71778534866\n",
      "\n",
      "num = \n",
      "527\n",
      "SENSOR 3 2.67992588614 -2.38908171914\n",
      "\n",
      "num = \n",
      "528\n",
      "SENSOR 7 4.91348563149 -1.63448801846\n",
      "\n",
      "num = \n",
      "529\n",
      "ODOMETRY -0.00889781821812 0.0999086470311 -0.0190099714897\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "530\n",
      "SENSOR 9 2.16768481293 -0.656518867328\n",
      "\n",
      "num = \n",
      "531\n",
      "SENSOR 3 2.7491968181 -2.46802217665\n",
      "\n",
      "num = \n",
      "532\n",
      "SENSOR 7 5.00638906973 -1.65640324117\n",
      "\n",
      "num = \n",
      "533\n",
      "ODOMETRY -0.00927390477241 0.100009300402 -0.0188819052824\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "534\n",
      "SENSOR 9 2.06036311226 -0.626109298885\n",
      "\n",
      "num = \n",
      "535\n",
      "SENSOR 3 2.77751099598 -2.43714785057\n",
      "\n",
      "num = \n",
      "536\n",
      "SENSOR 7 4.91592093285 -1.54197963648\n",
      "\n",
      "num = \n",
      "537\n",
      "ODOMETRY -0.00953762154818 0.100094963619 -0.0200631176614\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "538\n",
      "SENSOR 9 2.04004989525 -0.661783908592\n",
      "\n",
      "num = \n",
      "539\n",
      "SENSOR 3 2.9149859567 -2.40295482006\n",
      "\n",
      "num = \n",
      "540\n",
      "SENSOR 7 4.8372688152 -1.56251629567\n",
      "\n",
      "num = \n",
      "541\n",
      "ODOMETRY -0.0101843489035 0.100170852856 -0.0201491819106\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "542\n",
      "SENSOR 9 1.66733538754 -0.698581202368\n",
      "\n",
      "num = \n",
      "543\n",
      "SENSOR 3 2.9307627117 -2.38669029861\n",
      "\n",
      "num = \n",
      "544\n",
      "SENSOR 7 4.93201916584 -1.49123780717\n",
      "\n",
      "num = \n",
      "545\n",
      "ODOMETRY -0.00990916376395 0.0999830061546 -0.0196696291544\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "546\n",
      "SENSOR 9 1.86806692543 -0.632285525018\n",
      "\n",
      "num = \n",
      "547\n",
      "SENSOR 3 3.07656599932 -2.30189734788\n",
      "\n",
      "num = \n",
      "548\n",
      "SENSOR 7 4.97729237349 -1.44254478025\n",
      "\n",
      "num = \n",
      "549\n",
      "ODOMETRY -0.00936318813765 0.100047562962 -0.0207712598577\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "550\n",
      "SENSOR 9 1.86000913297 -0.769295117027\n",
      "\n",
      "num = \n",
      "551\n",
      "SENSOR 3 3.19327081586 -2.31845753548\n",
      "\n",
      "num = \n",
      "552\n",
      "SENSOR 7 4.91726327644 -1.50585217596\n",
      "\n",
      "num = \n",
      "553\n",
      "ODOMETRY -0.00962072976009 0.10003474407 -0.0201319397141\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "554\n",
      "SENSOR 9 1.43446530858 -0.697594112069\n",
      "\n",
      "num = \n",
      "555\n",
      "SENSOR 3 3.13888154368 -2.35491864899\n",
      "\n",
      "num = \n",
      "556\n",
      "SENSOR 7 4.86163354258 -1.52745827549\n",
      "\n",
      "num = \n",
      "557\n",
      "ODOMETRY -0.0103917618082 0.100096110722 -0.0202924780282\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "558\n",
      "SENSOR 9 1.5937891 -0.767018462963\n",
      "\n",
      "num = \n",
      "559\n",
      "SENSOR 3 3.03778930726 -2.37581878462\n",
      "\n",
      "num = \n",
      "560\n",
      "SENSOR 7 4.90982477845 -1.58323594734\n",
      "\n",
      "num = \n",
      "561\n",
      "ODOMETRY -0.0102274195246 0.0996530537132 -0.0197612833353\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "562\n",
      "SENSOR 9 1.55697370557 -0.787251601032\n",
      "\n",
      "num = \n",
      "563\n",
      "SENSOR 3 3.33092903126 -2.36291746924\n",
      "\n",
      "num = \n",
      "564\n",
      "SENSOR 7 5.11027080973 -1.49005454493\n",
      "\n",
      "num = \n",
      "565\n",
      "ODOMETRY -0.0090319900384 0.10002522485 -0.0203647354664\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "566\n",
      "SENSOR 9 1.27619923588 -0.681234912183\n",
      "\n",
      "num = \n",
      "567\n",
      "SENSOR 3 3.47097399843 -2.33744508902\n",
      "\n",
      "num = \n",
      "568\n",
      "SENSOR 7 4.86448662442 -1.43855505732\n",
      "\n",
      "num = \n",
      "569\n",
      "ODOMETRY -0.0101008198551 0.100056793796 -0.0202019103811\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "570\n",
      "SENSOR 9 1.31009222501 -0.833503306646\n",
      "\n",
      "num = \n",
      "571\n",
      "SENSOR 3 3.50501745603 -2.25950372396\n",
      "\n",
      "num = \n",
      "572\n",
      "SENSOR 7 5.04320626284 -1.42786770625\n",
      "\n",
      "num = \n",
      "573\n",
      "ODOMETRY -0.0102569159023 0.100207516625 -0.0199451843648\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "574\n",
      "SENSOR 9 1.39571281327 -0.801958198715\n",
      "\n",
      "num = \n",
      "575\n",
      "SENSOR 3 3.57526872507 -2.2334957241\n",
      "\n",
      "num = \n",
      "576\n",
      "SENSOR 7 4.91052249565 -1.46162122057\n",
      "\n",
      "num = \n",
      "577\n",
      "ODOMETRY -0.0103397707711 0.0998813934436 -0.0191999580024\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "578\n",
      "SENSOR 9 1.19140221788 -0.86945582523\n",
      "\n",
      "num = \n",
      "579\n",
      "SENSOR 3 3.65459040438 -2.19794223401\n",
      "\n",
      "num = \n",
      "580\n",
      "SENSOR 7 4.91158134671 -1.47557273999\n",
      "\n",
      "num = \n",
      "581\n",
      "ODOMETRY -0.00982335856588 0.100220795869 -0.0197928788826\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "582\n",
      "SENSOR 9 1.14672097564 -0.939720706666\n",
      "\n",
      "num = \n",
      "583\n",
      "SENSOR 3 3.67353602788 -2.2981427793\n",
      "\n",
      "num = \n",
      "584\n",
      "SENSOR 7 5.07088791168 -1.44755317677\n",
      "\n",
      "num = \n",
      "585\n",
      "ODOMETRY -0.010492637874 0.100078403812 -0.0202240532269\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "586\n",
      "SENSOR 9 1.00797285498 -0.92105202352\n",
      "\n",
      "num = \n",
      "587\n",
      "SENSOR 3 3.80658727703 -2.26185172183\n",
      "\n",
      "num = \n",
      "588\n",
      "SENSOR 7 4.70899193533 -1.49470541964\n",
      "\n",
      "num = \n",
      "589\n",
      "ODOMETRY -0.000409685506265 0.100074100741 3.35434933874e-05\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "590\n",
      "SENSOR 9 0.857547483906 -1.00030284767\n",
      "\n",
      "num = \n",
      "591\n",
      "SENSOR 3 3.63301222154 -2.30451383666\n",
      "\n",
      "num = \n",
      "592\n",
      "SENSOR 6 4.90713081255 -0.424618148952\n",
      "\n",
      "num = \n",
      "593\n",
      "SENSOR 7 4.87043730915 -1.51944450917\n",
      "\n",
      "num = \n",
      "594\n",
      "ODOMETRY -0.000384810922824 0.100071520774 -0.000435455866431\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "595\n",
      "SENSOR 9 0.865178354478 -1.0946089333\n",
      "\n",
      "num = \n",
      "596\n",
      "SENSOR 3 3.87154824828 -2.28097908386\n",
      "\n",
      "num = \n",
      "597\n",
      "SENSOR 6 4.72745761299 -0.496893155239\n",
      "\n",
      "num = \n",
      "598\n",
      "SENSOR 7 4.68178027075 -1.51760631906\n",
      "\n",
      "num = \n",
      "599\n",
      "ODOMETRY 0.00138651101242 0.100079510814 -0.000438491227614\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "600\n",
      "SENSOR 9 1.05193973633 -1.24556739994\n",
      "\n",
      "num = \n",
      "601\n",
      "SENSOR 3 3.88544422124 -2.3448780647\n",
      "\n",
      "num = \n",
      "602\n",
      "SENSOR 6 4.6615159534 -0.436869108029\n",
      "\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "603\n",
      "SENSOR 7 4.91044475526 -1.53423162043\n",
      "\n",
      "num = \n",
      "604\n",
      "ODOMETRY 7.68654085475e-05 0.100064376896 -0.000347285122512\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "605\n",
      "SENSOR 9 0.716009510292 -1.32231452602\n",
      "\n",
      "num = \n",
      "606\n",
      "SENSOR 3 4.05836894592 -2.31125693262\n",
      "\n",
      "num = \n",
      "607\n",
      "SENSOR 6 4.70020191847 -0.390682294868\n",
      "\n",
      "num = \n",
      "608\n",
      "SENSOR 7 4.86373148685 -1.56929948757\n",
      "\n",
      "num = \n",
      "609\n",
      "ODOMETRY -0.000366336199071 0.100085296763 0.000194856527543\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "610\n",
      "SENSOR 9 0.718690525633 -1.44144427768\n",
      "\n",
      "num = \n",
      "611\n",
      "SENSOR 3 3.97174192778 -2.33012742735\n",
      "\n",
      "num = \n",
      "612\n",
      "SENSOR 6 4.51253709809 -0.491056378731\n",
      "\n",
      "num = \n",
      "613\n",
      "SENSOR 7 4.82580688187 -1.61311348835\n",
      "\n",
      "num = \n",
      "614\n",
      "ODOMETRY -0.000542691676545 0.100027219506 -0.000143634057834\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "615\n",
      "SENSOR 9 0.852397954339 -1.52208071018\n",
      "\n",
      "num = \n",
      "616\n",
      "SENSOR 3 4.02133139088 -2.34538689579\n",
      "\n",
      "num = \n",
      "617\n",
      "SENSOR 6 4.39394312607 -0.503493763888\n",
      "\n",
      "num = \n",
      "618\n",
      "SENSOR 7 4.81123460265 -1.5816623073\n",
      "\n",
      "num = \n",
      "619\n",
      "ODOMETRY -0.000338327098837 0.0999475165511 -0.000696811302053\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "620\n",
      "SENSOR 9 0.999182411112 -1.75140374932\n",
      "\n",
      "num = \n",
      "621\n",
      "SENSOR 3 4.38012001946 -2.42649949651\n",
      "\n",
      "num = \n",
      "622\n",
      "SENSOR 6 4.22920452869 -0.49919366625\n",
      "\n",
      "num = \n",
      "623\n",
      "SENSOR 7 4.7889807136 -1.60415661478\n",
      "\n",
      "num = \n",
      "624\n",
      "ODOMETRY -0.000475538118084 0.0999099187346 0.000232670934345\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "625\n",
      "SENSOR 9 0.966348996295 -1.77294323319\n",
      "\n",
      "num = \n",
      "626\n",
      "SENSOR 3 4.34041261911 -2.45399927034\n",
      "\n",
      "num = \n",
      "627\n",
      "SENSOR 6 4.38277504531 -0.403080760952\n",
      "\n",
      "num = \n",
      "628\n",
      "SENSOR 7 4.89614467962 -1.57181840762\n",
      "\n",
      "num = \n",
      "629\n",
      "ODOMETRY 0.000223780781838 0.100011435985 -0.000354022886267\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "630\n",
      "SENSOR 9 0.841981559631 -1.88779721029\n",
      "\n",
      "num = \n",
      "631\n",
      "SENSOR 3 4.16181256236 -2.41849210558\n",
      "\n",
      "num = \n",
      "632\n",
      "SENSOR 6 4.18464593756 -0.433336610889\n",
      "\n",
      "num = \n",
      "633\n",
      "SENSOR 7 4.92423463031 -1.59767873996\n",
      "\n",
      "num = \n",
      "634\n",
      "ODOMETRY -0.000411390693843 0.100015809683 -0.000502592596897\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "635\n",
      "SENSOR 9 0.777235818058 -1.9338319829\n",
      "\n",
      "num = \n",
      "636\n",
      "SENSOR 3 4.48736232263 -2.45576116283\n",
      "\n",
      "num = \n",
      "637\n",
      "SENSOR 6 4.3310058626 -0.436710299463\n",
      "\n",
      "num = \n",
      "638\n",
      "SENSOR 7 4.83856749609 -1.72409921135\n",
      "\n",
      "num = \n",
      "639\n",
      "ODOMETRY -4.9832251043e-05 0.100000648532 -0.000385893755535\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "640\n",
      "SENSOR 9 0.934556124574 -2.04988255746\n",
      "\n",
      "num = \n",
      "641\n",
      "SENSOR 3 4.61386942219 -2.40988018104\n",
      "\n",
      "num = \n",
      "642\n",
      "SENSOR 6 4.04270041132 -0.544707869243\n",
      "\n",
      "num = \n",
      "643\n",
      "SENSOR 7 4.82529117944 -1.72896557463\n",
      "\n",
      "num = \n",
      "644\n",
      "ODOMETRY 3.82607564561e-05 0.100041266732 -0.000669567327995\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "645\n",
      "SENSOR 9 0.976385093206 -2.21825060068\n",
      "\n",
      "num = \n",
      "646\n",
      "SENSOR 3 4.60087364024 -2.49833542789\n",
      "\n",
      "num = \n",
      "647\n",
      "SENSOR 6 3.85663249854 -0.473587765132\n",
      "\n",
      "num = \n",
      "648\n",
      "SENSOR 7 4.69832908576 -1.72444148595\n",
      "\n",
      "num = \n",
      "649\n",
      "ODOMETRY 0.000347169255971 0.100119005274 0.000472676508502\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "650\n",
      "SENSOR 9 1.04654924484 -2.27392503998\n",
      "\n",
      "num = \n",
      "651\n",
      "SENSOR 3 4.51360132672 -2.52631209875\n",
      "\n",
      "num = \n",
      "652\n",
      "SENSOR 6 3.80488060575 -0.493098131544\n",
      "\n",
      "num = \n",
      "653\n",
      "SENSOR 7 4.93118784271 -1.73826666846\n",
      "\n",
      "num = \n",
      "654\n",
      "ODOMETRY 0.00062789372328 0.0998413041241 -0.000574518763401\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "655\n",
      "SENSOR 9 1.28463314263 -2.34744957796\n",
      "\n",
      "num = \n",
      "656\n",
      "SENSOR 3 4.66418397437 -2.52120194012\n",
      "\n",
      "num = \n",
      "657\n",
      "SENSOR 6 3.69287759951 -0.60259976732\n",
      "\n",
      "num = \n",
      "658\n",
      "SENSOR 7 4.96873311865 -1.67093594865\n",
      "\n",
      "num = \n",
      "659\n",
      "ODOMETRY 4.45958922005e-05 0.099874515769 -1.00773737823e-05\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "660\n",
      "SENSOR 9 1.34917868018 -2.3140195494\n",
      "\n",
      "num = \n",
      "661\n",
      "SENSOR 3 4.83734552807 -2.56309082268\n",
      "\n",
      "num = \n",
      "662\n",
      "SENSOR 6 3.85457392102 -0.550846124231\n",
      "\n",
      "num = \n",
      "663\n",
      "SENSOR 7 5.17069916757 -1.70445801834\n",
      "\n",
      "num = \n",
      "664\n",
      "ODOMETRY -0.000429849063258 0.100004466507 0.000109292387086\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "665\n",
      "SENSOR 9 1.17748940032 -2.45206668831\n",
      "\n",
      "num = \n",
      "666\n",
      "SENSOR 3 4.92413203652 -2.50830983496\n",
      "\n",
      "num = \n",
      "667\n",
      "SENSOR 6 3.66624442055 -0.549792364014\n",
      "\n",
      "num = \n",
      "668\n",
      "SENSOR 7 5.05742255974 -1.82626136427\n",
      "\n",
      "num = \n",
      "669\n",
      "ODOMETRY 0.000288328519944 0.100035068194 -0.000375613142214\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "670\n",
      "SENSOR 9 1.38120722588 -2.44006770578\n",
      "\n",
      "num = \n",
      "671\n",
      "SENSOR 3 4.97203634238 -2.52743825179\n",
      "\n",
      "num = \n",
      "672\n",
      "SENSOR 6 3.34161741639 -0.570724991728\n",
      "\n",
      "num = \n",
      "673\n",
      "SENSOR 7 4.99645813898 -1.8090953857\n",
      "\n",
      "num = \n",
      "674\n",
      "ODOMETRY -0.000196437843124 0.100011033773 -0.000844632707627\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "675\n",
      "SENSOR 9 1.45528361765 -2.58420505596\n",
      "\n",
      "num = \n",
      "676\n",
      "SENSOR 6 3.43854840262 -0.664301994754\n",
      "\n",
      "num = \n",
      "677\n",
      "ODOMETRY -0.000165775966687 0.099853966532 -0.000227528816011\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "678\n",
      "SENSOR 9 1.51231373679 -2.57014287703\n",
      "\n",
      "num = \n",
      "679\n",
      "SENSOR 6 3.34543642871 -0.515474866902\n",
      "\n",
      "num = \n",
      "680\n",
      "ODOMETRY -0.000320427748956 0.0999512716499 -2.01184480738e-05\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "681\n",
      "SENSOR 9 1.5641691951 -2.51026283028\n",
      "\n",
      "num = \n",
      "682\n",
      "SENSOR 6 3.22435324765 -0.650504358949\n",
      "\n",
      "num = \n",
      "683\n",
      "ODOMETRY -0.0106019670238 0.100047923549 -0.0204366322955\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "684\n",
      "SENSOR 9 1.59802617089 -2.65772209102\n",
      "\n",
      "num = \n",
      "685\n",
      "SENSOR 6 3.13292130388 -0.635247283074\n",
      "\n",
      "num = \n",
      "686\n",
      "ODOMETRY -0.00953419971679 0.0997364068422 -0.0212338845357\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "687\n",
      "SENSOR 9 1.87635789925 -2.55029325464\n",
      "\n",
      "num = \n",
      "688\n",
      "SENSOR 6 3.19803180081 -0.61824718829\n",
      "\n",
      "num = \n",
      "689\n",
      "ODOMETRY -0.0107938955733 0.0999832759665 -0.019948987928\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "690\n",
      "SENSOR 9 1.92709236774 -2.52235624435\n",
      "\n",
      "num = \n",
      "691\n",
      "SENSOR 6 3.17408419033 -0.635819077792\n",
      "\n",
      "num = \n",
      "692\n",
      "ODOMETRY -0.00944720798648 0.0997678997798 -0.0200192854442\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "693\n",
      "SENSOR 9 2.08411384052 -2.53681319494\n",
      "\n",
      "num = \n",
      "694\n",
      "SENSOR 6 3.13689739397 -0.542348736916\n",
      "\n",
      "num = \n",
      "695\n",
      "ODOMETRY -0.00992182327545 0.0999905363988 -0.0204470597834\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "696\n",
      "SENSOR 9 2.15082598548 -2.62559241561\n",
      "\n",
      "num = \n",
      "697\n",
      "SENSOR 6 2.88367328806 -0.521052906275\n",
      "\n",
      "num = \n",
      "698\n",
      "ODOMETRY -0.0107301411918 0.100054857862 -0.020207639661\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "699\n",
      "SENSOR 9 2.22403769833 -2.57100159391\n",
      "\n",
      "num = \n",
      "700\n",
      "SENSOR 6 2.75363345764 -0.59479460609\n",
      "\n",
      "num = \n",
      "701\n",
      "ODOMETRY -0.00945082622088 0.100028990755 -0.0201896000612\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "702\n",
      "SENSOR 9 2.09934424502 -2.62747192244\n",
      "\n",
      "num = \n",
      "703\n",
      "SENSOR 6 2.78287775806 -0.566042555815\n",
      "\n",
      "num = \n",
      "704\n",
      "ODOMETRY -0.0105102453842 0.100075137611 -0.0192110813252\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "705\n",
      "SENSOR 9 2.338760347 -2.49919139221\n",
      "\n",
      "num = \n",
      "706\n",
      "SENSOR 6 2.56098570013 -0.578280755328\n",
      "\n",
      "num = \n",
      "707\n",
      "ODOMETRY -0.0101091445014 0.100056942868 -0.0202496882834\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "708\n",
      "SENSOR 9 2.36371658684 -2.5456740025\n",
      "\n",
      "num = \n",
      "709\n",
      "SENSOR 6 2.48771994856 -0.552245239548\n",
      "\n",
      "num = \n",
      "710\n",
      "ODOMETRY -0.0105145489253 0.0999902746701 -0.0199986389786\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "711\n",
      "SENSOR 9 2.30062771488 -2.4977087584\n",
      "\n",
      "num = \n",
      "712\n",
      "SENSOR 6 2.32217047438 -0.47768834283\n",
      "\n",
      "num = \n",
      "713\n",
      "ODOMETRY -0.00999561666508 0.100200722106 -0.0217016192012\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "714\n",
      "SENSOR 9 2.69247943647 -2.5972744536\n",
      "\n",
      "num = \n",
      "715\n",
      "SENSOR 6 2.29849519971 -0.514286070901\n",
      "\n",
      "num = \n",
      "716\n",
      "ODOMETRY -0.010253509794 0.100305119325 -0.0200365313116\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "717\n",
      "SENSOR 9 2.64982989713 -2.51698914589\n",
      "\n",
      "num = \n",
      "718\n",
      "SENSOR 6 2.33543764513 -0.534136974728\n",
      "\n",
      "num = \n",
      "719\n",
      "ODOMETRY -0.0100944966646 0.0999733101366 -0.0195079687298\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "720\n",
      "SENSOR 9 2.65729068137 -2.4978812086\n",
      "\n",
      "num = \n",
      "721\n",
      "SENSOR 6 2.25095104345 -0.479210081653\n",
      "\n",
      "num = \n",
      "722\n",
      "ODOMETRY -0.0101074082596 0.100018773417 -0.0203868508626\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "723\n",
      "SENSOR 9 2.76716235897 -2.47752317338\n",
      "\n",
      "num = \n",
      "724\n",
      "SENSOR 6 2.19825407926 -0.543379843286\n",
      "\n",
      "num = \n",
      "725\n",
      "ODOMETRY -0.0109280904874 0.0997445246948 -0.0208338946471\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "726\n",
      "SENSOR 9 2.82396899412 -2.40545832185\n",
      "\n",
      "num = \n",
      "727\n",
      "SENSOR 6 2.08789424755 -0.434451182334\n",
      "\n",
      "num = \n",
      "728\n",
      "ODOMETRY -0.0107904208075 0.0999745501611 -0.0198457813547\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "729\n",
      "SENSOR 9 3.02311813001 -2.51712047\n",
      "\n",
      "num = \n",
      "730\n",
      "SENSOR 6 1.66907092363 -0.416834784118\n",
      "\n",
      "num = \n",
      "731\n",
      "ODOMETRY -0.0103341393326 0.100132555892 -0.0180094112365\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "732\n",
      "SENSOR 9 3.10995984838 -2.46182237293\n",
      "\n",
      "num = \n",
      "733\n",
      "SENSOR 5 4.84530946037 -0.68517513493\n",
      "\n",
      "num = \n",
      "734\n",
      "SENSOR 6 1.84740462156 -0.4478152927\n",
      "\n",
      "num = \n",
      "735\n",
      "ODOMETRY -0.0093722070032 0.0999685977667 -0.0205683448261\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "736\n",
      "SENSOR 9 3.18055380157 -2.54857343644\n",
      "\n",
      "num = \n",
      "737\n",
      "SENSOR 5 4.85891633668 -0.668366244332\n",
      "\n",
      "num = \n",
      "738\n",
      "SENSOR 6 1.7842152426 -0.488946347808\n",
      "\n",
      "num = \n",
      "739\n",
      "ODOMETRY -0.00862092621645 0.0999477605626 -0.0201202350172\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "740\n",
      "SENSOR 9 3.18570431347 -2.4008945257\n",
      "\n",
      "num = \n",
      "741\n",
      "SENSOR 5 4.82710109983 -0.641400105429\n",
      "\n",
      "num = \n",
      "742\n",
      "SENSOR 6 1.69943263258 -0.496469425827\n",
      "\n",
      "num = \n",
      "743\n",
      "ODOMETRY -0.00955765207066 0.0998476554338 -0.0193197473497\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "744\n",
      "SENSOR 9 3.12127195258 -2.50049803812\n",
      "\n",
      "num = \n",
      "745\n",
      "SENSOR 5 4.6819032733 -0.546305815709\n",
      "\n",
      "num = \n",
      "746\n",
      "SENSOR 6 1.52508719469 -0.510818201368\n",
      "\n",
      "num = \n",
      "747\n",
      "ODOMETRY -0.0107711066964 0.0998042129527 -0.0201829660088\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "748\n",
      "SENSOR 9 3.31709033712 -2.52196405386\n",
      "\n",
      "num = \n",
      "749\n",
      "SENSOR 5 4.52960727679 -0.622632344915\n",
      "\n",
      "num = \n",
      "750\n",
      "SENSOR 6 1.51555197181 -0.483700179613\n",
      "\n",
      "num = \n",
      "751\n",
      "ODOMETRY -0.0106692873467 0.0999978549067 -0.0205636007303\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "752\n",
      "SENSOR 9 3.42310838562 -2.36206432124\n",
      "\n",
      "num = \n",
      "753\n",
      "SENSOR 5 4.53794828327 -0.53418400183\n",
      "\n",
      "num = \n",
      "754\n",
      "SENSOR 6 1.32931304322 -0.479413416386\n",
      "\n",
      "num = \n",
      "755\n",
      "ODOMETRY -0.00969674555054 0.0998579824931 -0.0192695637893\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "756\n",
      "SENSOR 9 3.62733239979 -2.38022351036\n",
      "\n",
      "num = \n",
      "757\n",
      "SENSOR 5 4.37234874991 -0.563371428817\n",
      "\n",
      "num = \n",
      "758\n",
      "SENSOR 6 1.35890639216 -0.514900037794\n",
      "\n",
      "num = \n",
      "759\n",
      "ODOMETRY -0.00975243761561 0.100084972125 -0.0190526733648\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "760\n",
      "SENSOR 9 3.43664804548 -2.47845457513\n",
      "\n",
      "num = \n",
      "761\n",
      "SENSOR 5 4.40241684214 -0.528424774865\n",
      "\n",
      "num = \n",
      "762\n",
      "SENSOR 6 1.17344456537 -0.549352353621\n",
      "\n",
      "num = \n",
      "763\n",
      "ODOMETRY -0.0105945853572 0.099872757633 -0.0202805754787\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "764\n",
      "SENSOR 9 3.80772091573 -2.35409908276\n",
      "\n",
      "num = \n",
      "765\n",
      "SENSOR 5 4.46937021002 -0.511246038945\n",
      "\n",
      "num = \n",
      "766\n",
      "SENSOR 6 1.00904981044 -0.564861088059\n",
      "\n",
      "num = \n",
      "767\n",
      "ODOMETRY -0.00995270901101 0.0998530081873 -0.0196783662529\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "768\n",
      "SENSOR 9 3.70815619706 -2.33452606743\n",
      "\n",
      "num = \n",
      "769\n",
      "SENSOR 5 4.19090804798 -0.41877794872\n",
      "\n",
      "num = \n",
      "770\n",
      "SENSOR 6 0.970116554577 -0.588881190644\n",
      "\n",
      "num = \n",
      "771\n",
      "ODOMETRY -0.0101020973665 0.0996707383779 -0.0208528795957\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "772\n",
      "SENSOR 9 3.93638331662 -2.39850836779\n",
      "\n",
      "num = \n",
      "773\n",
      "SENSOR 5 4.04290760143 -0.509604308379\n",
      "\n",
      "num = \n",
      "774\n",
      "SENSOR 6 0.936990845675 -0.532229510423\n",
      "\n",
      "num = \n",
      "775\n",
      "ODOMETRY -0.00952254950204 0.100022587336 -0.0207743450449\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "776\n",
      "SENSOR 9 3.89900313788 -2.29477366101\n",
      "\n",
      "num = \n",
      "777\n",
      "SENSOR 5 4.04895138463 -0.395215981692\n",
      "\n",
      "num = \n",
      "778\n",
      "SENSOR 6 0.812825950143 -0.453553346142\n",
      "\n",
      "num = \n",
      "779\n",
      "ODOMETRY -0.0102732233681 0.100133765982 -0.0196922288135\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "780\n",
      "SENSOR 9 3.83279766773 -2.28070886372\n",
      "\n",
      "num = \n",
      "781\n",
      "SENSOR 5 3.97813591759 -0.429269072296\n",
      "\n",
      "num = \n",
      "782\n",
      "SENSOR 6 0.726811888974 -0.639211553277\n",
      "\n",
      "num = \n",
      "783\n",
      "ODOMETRY -0.0101417504752 0.100047146406 -0.0198861805906\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "784\n",
      "SENSOR 9 4.04297272457 -2.31829642551\n",
      "\n",
      "num = \n",
      "785\n",
      "SENSOR 5 3.76824204267 -0.351220156141\n",
      "\n",
      "num = \n",
      "786\n",
      "SENSOR 6 0.84698052247 -0.696946949932\n",
      "\n",
      "num = \n",
      "787\n",
      "ODOMETRY -0.00976555837785 0.0999392737943 -0.0202600749042\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "788\n",
      "SENSOR 9 3.94891278215 -2.28260593235\n",
      "\n",
      "num = \n",
      "789\n",
      "SENSOR 5 3.83680044028 -0.432572464986\n",
      "\n",
      "num = \n",
      "790\n",
      "SENSOR 6 0.395680522971 -0.655795908392\n",
      "\n",
      "num = \n",
      "791\n",
      "ODOMETRY -0.010049358612 0.0997832887798 -0.019839016952\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "792\n",
      "SENSOR 9 3.98941732805 -2.3427601836\n",
      "\n",
      "num = \n",
      "793\n",
      "SENSOR 5 3.75748779569 -0.363585653423\n",
      "\n",
      "num = \n",
      "794\n",
      "SENSOR 6 0.419326712016 -0.767405627964\n",
      "\n",
      "num = \n",
      "795\n",
      "ODOMETRY -0.00990804911868 0.100063160013 -0.0199924290762\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "796\n",
      "SENSOR 9 4.42622114477 -2.40283616777\n",
      "\n",
      "num = \n",
      "797\n",
      "SENSOR 5 3.59908359045 -0.401154962684\n",
      "\n",
      "num = \n",
      "798\n",
      "SENSOR 6 0.536372367698 -0.912498729021\n",
      "\n",
      "num = \n",
      "799\n",
      "ODOMETRY -0.0104411710858 0.0999733210449 -0.0202707137229\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "800\n",
      "SENSOR 9 4.2655392474 -2.20254764796\n",
      "\n",
      "num = \n",
      "801\n",
      "SENSOR 5 3.5048753415 -0.324920330739\n",
      "\n",
      "num = \n",
      "802\n",
      "SENSOR 6 0.51173051641 -1.06886376241\n",
      "\n",
      "num = \n",
      "803\n",
      "ODOMETRY -0.00958796560624 0.0997012356948 -0.0190106918502\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "804\n",
      "SENSOR 9 4.34567969478 -2.35381026389\n",
      "\n",
      "num = \n",
      "805\n",
      "SENSOR 5 3.30597120213 -0.412290519769\n",
      "\n",
      "num = \n",
      "806\n",
      "SENSOR 6 0.20325124874 -1.31986021336\n",
      "\n",
      "num = \n",
      "807\n",
      "ODOMETRY -0.00945910338498 0.0999239188151 -0.0214393518247\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "808\n",
      "SENSOR 9 4.38166645197 -2.30347835146\n",
      "\n",
      "num = \n",
      "809\n",
      "SENSOR 5 3.22212240616 -0.28102949825\n",
      "\n",
      "num = \n",
      "810\n",
      "SENSOR 6 0.485918242069 -1.5413027657\n",
      "\n",
      "num = \n",
      "811\n",
      "ODOMETRY -0.00936872176157 0.100063167686 -0.0195376694399\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "812\n",
      "SENSOR 9 4.48649572512 -2.24697957965\n",
      "\n",
      "num = \n",
      "813\n",
      "SENSOR 5 3.34522913193 -0.234888669301\n",
      "\n",
      "num = \n",
      "814\n",
      "SENSOR 6 0.500504821212 -1.84549274519\n",
      "\n",
      "num = \n",
      "815\n",
      "ODOMETRY -0.00924626532071 0.100289629903 -0.0204452803265\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "816\n",
      "SENSOR 9 4.38285686125 -2.31796805291\n",
      "\n",
      "num = \n",
      "817\n",
      "SENSOR 5 3.2253313986 -0.336497877248\n",
      "\n",
      "num = \n",
      "818\n",
      "SENSOR 6 0.439532705962 -1.90081031321\n",
      "\n",
      "num = \n",
      "819\n",
      "ODOMETRY -0.01000714381 0.100038563302 -0.019511177285\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "820\n",
      "SENSOR 9 4.55722929609 -2.24131015351\n",
      "\n",
      "num = \n",
      "821\n",
      "SENSOR 5 2.9839122976 -0.197934642549\n",
      "\n",
      "num = \n",
      "822\n",
      "SENSOR 6 0.574357838755 -2.17478748907\n",
      "\n",
      "num = \n",
      "823\n",
      "ODOMETRY -0.00944955204624 0.10018930828 -0.0190846444645\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "824\n",
      "SENSOR 9 4.65611466523 -2.15413569161\n",
      "\n",
      "num = \n",
      "825\n",
      "SENSOR 5 2.74522288695 -0.143269371669\n",
      "\n",
      "num = \n",
      "826\n",
      "SENSOR 6 0.360293528261 -2.29140075438\n",
      "\n",
      "num = \n",
      "827\n",
      "ODOMETRY -0.00989104084324 0.0999598344613 -0.0188963355752\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "828\n",
      "SENSOR 9 4.67549235193 -2.2547342678\n",
      "\n",
      "num = \n",
      "829\n",
      "SENSOR 5 2.71660050275 -0.224341183559\n",
      "\n",
      "num = \n",
      "830\n",
      "SENSOR 6 0.430936386021 -2.38808484232\n",
      "\n",
      "num = \n",
      "831\n",
      "ODOMETRY -0.00939876434182 0.0999176579476 -0.0204354275234\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "832\n",
      "SENSOR 9 4.7295769119 -2.24776588052\n",
      "\n",
      "num = \n",
      "833\n",
      "SENSOR 5 2.8209588612 -0.184612197348\n",
      "\n",
      "num = \n",
      "834\n",
      "SENSOR 6 0.678975349504 -2.39838829822\n",
      "\n",
      "num = \n",
      "835\n",
      "ODOMETRY -0.00984260589012 0.0999049920184 -0.0204207671229\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "836\n",
      "SENSOR 9 4.869136985 -2.22984653418\n",
      "\n",
      "num = \n",
      "837\n",
      "SENSOR 5 2.53472429795 -0.0979438474725\n",
      "\n",
      "num = \n",
      "838\n",
      "SENSOR 6 0.724677994461 -2.47062007294\n",
      "\n",
      "num = \n",
      "839\n",
      "ODOMETRY -0.0106220820001 0.0999476383789 -0.018951076035\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "840\n",
      "SENSOR 9 4.83972948952 -2.2017291975\n",
      "\n",
      "num = \n",
      "841\n",
      "SENSOR 5 2.41938626893 -0.0722766789081\n",
      "\n",
      "num = \n",
      "842\n",
      "SENSOR 6 0.896483545718 -2.50133568907\n",
      "\n",
      "num = \n",
      "843\n",
      "ODOMETRY -0.00894165782255 0.0998037580051 -0.0205485067311\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "844\n",
      "SENSOR 9 4.79978469006 -2.0771865507\n",
      "\n",
      "num = \n",
      "845\n",
      "SENSOR 5 2.44031736377 -0.0451271960902\n",
      "\n",
      "num = \n",
      "846\n",
      "SENSOR 6 0.892706720609 -2.53051031897\n",
      "\n",
      "num = \n",
      "847\n",
      "ODOMETRY -0.00957465262851 0.0998659692323 -0.0205930146175\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "848\n",
      "SENSOR 9 4.96198478686 -2.1451611355\n",
      "\n",
      "num = \n",
      "849\n",
      "SENSOR 5 2.47950904793 -0.0215694258122\n",
      "\n",
      "num = \n",
      "850\n",
      "SENSOR 6 1.10799154666 -2.54106679813\n",
      "\n",
      "num = \n",
      "851\n",
      "ODOMETRY -0.0100525455681 0.100337319608 -0.0205497252019\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "852\n",
      "SENSOR 5 2.26894342284 -0.0418532807452\n",
      "\n",
      "num = \n",
      "853\n",
      "SENSOR 6 1.0656324647 -2.61108195515\n",
      "\n",
      "num = \n",
      "854\n",
      "ODOMETRY -0.00943091267911 0.100196441839 -0.0204474262183\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "855\n",
      "SENSOR 5 1.9900024526 -0.0587920688072\n",
      "\n",
      "num = \n",
      "856\n",
      "SENSOR 6 1.25664957166 -2.54040872029\n",
      "\n",
      "num = \n",
      "857\n",
      "ODOMETRY -0.0106675969581 0.100069072476 -0.0198298367329\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "858\n",
      "SENSOR 5 2.06876472771 0.0347353602678\n",
      "\n",
      "num = \n",
      "859\n",
      "SENSOR 6 1.30479718818 -2.63957544017\n",
      "\n",
      "num = \n",
      "860\n",
      "ODOMETRY -0.0109501726772 0.099656204344 -0.0197480529382\n",
      "\n",
      "s =  18.10294164383737\n",
      "num = \n",
      "861\n",
      "SENSOR 4 4.84903369134 -0.25676242683\n",
      "\n",
      "num = \n",
      "862\n",
      "SENSOR 5 1.95099797266 0.0604548438905\n",
      "\n",
      "num = \n",
      "863\n",
      "SENSOR 6 1.41276478857 -2.60038303448\n",
      "\n",
      "num = \n",
      "864\n",
      "ODOMETRY -0.0100590106676 0.10023557322 -0.0195720926297\n",
      "\n",
      "s =  20.86668061147813\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "865\n",
      "SENSOR 4 4.78300024277 -0.184611496152\n",
      "\n",
      "num = \n",
      "866\n",
      "SENSOR 5 1.61457584315 0.0300012667976\n",
      "\n",
      "num = \n",
      "867\n",
      "SENSOR 6 1.33645903435 -2.65659019827\n",
      "\n",
      "num = \n",
      "868\n",
      "ODOMETRY 0.00032218948586 0.0998511803331 0.0003472668121\n",
      "\n",
      "s =  22.057111801497904\n",
      "num = \n",
      "869\n",
      "SENSOR 4 4.61809557694 -0.235944730585\n",
      "\n",
      "num = \n",
      "870\n",
      "SENSOR 5 1.67346172256 0.0980438083583\n",
      "\n",
      "num = \n",
      "871\n",
      "SENSOR 6 1.56764537893 -2.65826963558\n",
      "\n",
      "num = \n",
      "872\n",
      "ODOMETRY 0.000579000360448 0.100089931179 -0.000362694330933\n",
      "\n",
      "s =  26.434736304910825\n",
      "num = \n",
      "873\n",
      "SENSOR 4 4.61773693027 -0.233895064666\n",
      "\n",
      "num = \n",
      "874\n",
      "SENSOR 5 1.66054407293 0.136649840485\n",
      "\n",
      "num = \n",
      "875\n",
      "SENSOR 6 1.46408042321 -2.68709021799\n",
      "\n",
      "num = \n",
      "876\n",
      "ODOMETRY -0.00044089900061 0.0999353750811 -1.34281290757e-05\n",
      "\n",
      "s =  22.778086414502678\n",
      "num = \n",
      "877\n",
      "SENSOR 4 4.55480271918 -0.2913216657\n",
      "\n",
      "num = \n",
      "878\n",
      "SENSOR 5 1.50100988483 0.0822156400295\n",
      "\n",
      "num = \n",
      "879\n",
      "SENSOR 6 1.65425176466 -2.6843419931\n",
      "\n",
      "num = \n",
      "880\n",
      "SENSOR 7 5.04255929223 -1.4135258173\n",
      "\n",
      "num = \n",
      "881\n",
      "ODOMETRY 0.000562113155451 0.100147932789 -0.000142894973449\n",
      "\n",
      "s =  24.981827135595402\n",
      "num = \n",
      "882\n",
      "SENSOR 4 4.64418998385 -0.161422957882\n",
      "\n",
      "num = \n",
      "883\n",
      "SENSOR 5 1.29375310016 0.123150135765\n",
      "\n",
      "num = \n",
      "884\n",
      "SENSOR 6 1.77502447071 -2.80258703114\n",
      "\n",
      "num = \n",
      "885\n",
      "SENSOR 7 5.01260808028 -1.45772167011\n",
      "\n",
      "num = \n",
      "886\n",
      "ODOMETRY -0.000226406399014 0.0999909834075 0.000810043165928\n",
      "\n",
      "s =  24.71200348310205\n",
      "num = \n",
      "887\n",
      "SENSOR 4 4.39606723221 -0.276669971263\n",
      "\n",
      "num = \n",
      "888\n",
      "SENSOR 5 1.13430771004 -0.00962817617611\n",
      "\n",
      "num = \n",
      "889\n",
      "SENSOR 6 2.02721972825 -2.77395719223\n",
      "\n",
      "num = \n",
      "890\n",
      "SENSOR 7 5.01335185372 -1.38085423243\n",
      "\n",
      "num = \n",
      "891\n",
      "ODOMETRY -0.000121224257881 0.100003849424 -0.000161822234677\n",
      "\n",
      "s =  18.159219652911197\n",
      "num = \n",
      "892\n",
      "SENSOR 4 4.21055927653 -0.283655804258\n",
      "\n",
      "num = \n",
      "893\n",
      "SENSOR 5 1.22819950733 0.226306705038\n",
      "\n",
      "num = \n",
      "894\n",
      "SENSOR 6 2.06103141149 -2.83245000998\n",
      "\n",
      "num = \n",
      "895\n",
      "SENSOR 7 4.98179803298 -1.28932243622\n",
      "\n",
      "num = \n",
      "896\n",
      "ODOMETRY -0.000110963942142 0.100018911481 -0.000521393454382\n",
      "\n",
      "s =  24.229729214827515\n",
      "num = \n",
      "897\n",
      "SENSOR 4 4.17076128421 -0.255955030358\n",
      "\n",
      "num = \n",
      "898\n",
      "SENSOR 5 1.05714325417 0.21158075001\n",
      "\n",
      "num = \n",
      "899\n",
      "SENSOR 6 2.05801724245 -2.81179075528\n",
      "\n",
      "num = \n",
      "900\n",
      "SENSOR 7 4.86315022266 -1.34949497751\n",
      "\n",
      "num = \n",
      "901\n",
      "ODOMETRY 0.000581673049888 0.0999432751717 0.00043900315162\n",
      "\n",
      "s =  26.014122731352558\n",
      "num = \n",
      "902\n",
      "SENSOR 4 4.13152266208 -0.243662897715\n",
      "\n",
      "num = \n",
      "903\n",
      "SENSOR 5 1.05442924658 0.0889859691676\n",
      "\n",
      "num = \n",
      "904\n",
      "SENSOR 6 2.35710025687 -2.82505124292\n",
      "\n",
      "num = \n",
      "905\n",
      "SENSOR 7 4.95998239128 -1.37541098571\n",
      "\n",
      "num = \n",
      "906\n",
      "ODOMETRY -0.000643014075002 0.100046662876 -0.00030597139561\n",
      "\n",
      "s =  21.61530189753192\n",
      "num = \n",
      "907\n",
      "SENSOR 4 3.82306989928 -0.212313306236\n",
      "\n",
      "num = \n",
      "908\n",
      "SENSOR 5 0.968305923429 0.23047472434\n",
      "\n",
      "num = \n",
      "909\n",
      "SENSOR 6 2.40627348405 -2.87087242804\n",
      "\n",
      "num = \n",
      "910\n",
      "SENSOR 7 5.034472876 -1.44522298097\n",
      "\n",
      "num = \n",
      "911\n",
      "ODOMETRY 0.000980857762591 0.100010654979 -0.000435006611772\n",
      "\n",
      "s =  22.615038557939307\n",
      "num = \n",
      "912\n",
      "SENSOR 4 3.83451139593 -0.378927701924\n",
      "\n",
      "num = \n",
      "913\n",
      "SENSOR 5 0.795567173767 0.257190386142\n",
      "\n",
      "num = \n",
      "914\n",
      "SENSOR 6 2.21053118472 -2.90470139087\n",
      "\n",
      "num = \n",
      "915\n",
      "SENSOR 7 4.7748297548 -1.54836287468\n",
      "\n",
      "num = \n",
      "916\n",
      "ODOMETRY -0.000609935109904 0.0998848209643 0.000251078083048\n",
      "\n",
      "s =  25.53487834273654\n",
      "num = \n",
      "917\n",
      "SENSOR 4 3.88367571854 -0.326496453728\n",
      "\n",
      "num = \n",
      "918\n",
      "SENSOR 5 0.891277185527 0.280971348661\n",
      "\n",
      "num = \n",
      "919\n",
      "SENSOR 6 2.10999985974 -2.83168707465\n",
      "\n",
      "num = \n",
      "920\n",
      "SENSOR 7 5.05295173972 -1.45560081735\n",
      "\n",
      "num = \n",
      "921\n",
      "ODOMETRY -0.000179010067717 0.0999576062388 -0.000710880596247\n",
      "\n",
      "s =  17.29995487212512\n",
      "num = \n",
      "922\n",
      "SENSOR 4 3.58613036757 -0.288767287002\n",
      "\n",
      "num = \n",
      "923\n",
      "SENSOR 5 0.460401798273 0.26480686479\n",
      "\n",
      "num = \n",
      "924\n",
      "SENSOR 6 2.51029465932 -2.79685383309\n",
      "\n",
      "num = \n",
      "925\n",
      "SENSOR 7 4.67903549074 -1.4966253335\n",
      "\n",
      "num = \n",
      "926\n",
      "ODOMETRY 1.98323569268e-05 0.100165214307 -0.000147014308583\n",
      "\n",
      "s =  22.513907271353297\n",
      "num = \n",
      "927\n",
      "SENSOR 4 3.44937417841 -0.286872026407\n",
      "\n",
      "num = \n",
      "928\n",
      "SENSOR 5 0.568629217557 0.3018303773\n",
      "\n",
      "num = \n",
      "929\n",
      "SENSOR 6 2.64470410896 -2.83673237411\n",
      "\n",
      "num = \n",
      "930\n",
      "SENSOR 7 4.95577954911 -1.60816903758\n",
      "\n",
      "num = \n",
      "931\n",
      "ODOMETRY -6.60853800921e-05 0.0999758509541 -0.000131327398541\n",
      "\n",
      "s =  23.429550844333413\n",
      "num = \n",
      "932\n",
      "SENSOR 4 3.52642298111 -0.249961503109\n",
      "\n",
      "num = \n",
      "933\n",
      "SENSOR 5 0.307880568887 0.424643724602\n",
      "\n",
      "num = \n",
      "934\n",
      "SENSOR 6 2.9217035269 -2.82543551976\n",
      "\n",
      "num = \n",
      "935\n",
      "SENSOR 7 4.94775483194 -1.64578415856\n",
      "\n",
      "num = \n",
      "936\n",
      "ODOMETRY -0.000759236874724 0.0999210873642 0.000484464597198\n",
      "\n",
      "s =  24.541278206843508\n",
      "num = \n",
      "937\n",
      "SENSOR 4 3.21537221573 -0.253278443559\n",
      "\n",
      "num = \n",
      "938\n",
      "SENSOR 5 0.343826600928 0.517766599935\n",
      "\n",
      "num = \n",
      "939\n",
      "SENSOR 6 2.96764243571 -2.91298298802\n",
      "\n",
      "num = \n",
      "940\n",
      "SENSOR 7 4.82932486066 -1.61976963793\n",
      "\n",
      "num = \n",
      "941\n",
      "ODOMETRY -0.000932651491047 0.0999034758275 -0.000522681021362\n",
      "\n",
      "s =  24.368044909454397\n",
      "num = \n",
      "942\n",
      "SENSOR 4 3.34936193071 -0.304748576464\n",
      "\n",
      "num = \n",
      "943\n",
      "SENSOR 5 0.343347061969 0.659117686955\n",
      "\n",
      "num = \n",
      "944\n",
      "SENSOR 6 2.92855535028 -2.93282234469\n",
      "\n",
      "num = \n",
      "945\n",
      "SENSOR 7 4.96462452817 -1.57447287405\n",
      "\n",
      "num = \n",
      "946\n",
      "ODOMETRY -0.000512470689375 0.100057311486 -0.000223205440965\n",
      "\n",
      "s =  18.30782703174206\n",
      "num = \n",
      "947\n",
      "SENSOR 4 3.15778244056 -0.292102213421\n",
      "\n",
      "num = \n",
      "948\n",
      "SENSOR 5 0.141707586712 1.03014356599\n",
      "\n",
      "num = \n",
      "949\n",
      "SENSOR 6 3.04256842701 -2.97112353332\n",
      "\n",
      "num = \n",
      "950\n",
      "SENSOR 7 4.88037499079 -1.5496709461\n",
      "\n",
      "num = \n",
      "951\n",
      "ODOMETRY 0.000238123279006 0.100087562421 -0.000865450974989\n",
      "\n",
      "s =  17.319184271302067\n",
      "num = \n",
      "952\n",
      "SENSOR 4 2.96773449222 -0.400216479435\n",
      "\n",
      "num = \n",
      "953\n",
      "SENSOR 5 0.166308403676 1.68239382754\n",
      "\n",
      "num = \n",
      "954\n",
      "SENSOR 6 3.2230949285 -2.84004575595\n",
      "\n",
      "num = \n",
      "955\n",
      "SENSOR 7 4.91301700642 -1.67498948311\n",
      "\n",
      "num = \n",
      "956\n",
      "ODOMETRY -3.76056555742e-05 0.100065617658 -4.08741242394e-05\n",
      "\n",
      "s =  20.82134093670574\n",
      "num = \n",
      "957\n",
      "SENSOR 4 3.03622795588 -0.3620980622\n",
      "\n",
      "num = \n",
      "958\n",
      "SENSOR 5 0.0739583240574 2.14869048053\n",
      "\n",
      "num = \n",
      "959\n",
      "SENSOR 6 3.17408809462 -2.89186031506\n",
      "\n",
      "num = \n",
      "960\n",
      "SENSOR 7 4.82002295209 -1.68843402387\n",
      "\n",
      "num = \n",
      "961\n",
      "ODOMETRY 9.89402028077e-05 0.100031416967 0.000622005123179\n",
      "\n",
      "s =  18.39172392425961\n",
      "num = \n",
      "962\n",
      "SENSOR 4 2.95157073999 -0.298610621477\n",
      "\n",
      "num = \n",
      "963\n",
      "SENSOR 5 0.346488097492 2.53355576934\n",
      "\n",
      "num = \n",
      "964\n",
      "SENSOR 6 3.33016113401 -2.94286515757\n",
      "\n",
      "num = \n",
      "965\n",
      "SENSOR 7 4.69924250353 -1.63435353961\n",
      "\n",
      "num = \n",
      "966\n",
      "ODOMETRY -0.000614027545778 0.0998786193061 0.000335491924434\n",
      "\n",
      "s =  25.752859192390403\n",
      "num = \n",
      "967\n",
      "SENSOR 4 2.65038997064 -0.385126318151\n",
      "\n",
      "num = \n",
      "968\n",
      "SENSOR 5 0.475971024403 2.72737519418\n",
      "\n",
      "num = \n",
      "969\n",
      "SENSOR 6 3.28812237005 -2.94355501192\n",
      "\n",
      "num = \n",
      "970\n",
      "SENSOR 7 5.00297279413 -1.698122639\n",
      "\n",
      "num = \n",
      "971\n",
      "ODOMETRY 0.000585614314283 0.100042839545 -0.000255406282724\n",
      "\n",
      "s =  22.75255849861114\n",
      "num = \n",
      "972\n",
      "SENSOR 4 2.79626548779 -0.410138412521\n",
      "\n",
      "num = \n",
      "973\n",
      "SENSOR 5 0.445022945829 2.75937150553\n",
      "\n",
      "num = \n",
      "974\n",
      "SENSOR 6 3.5871783697 -2.9914922394\n",
      "\n",
      "num = \n",
      "975\n",
      "SENSOR 7 4.93493808652 -1.67217695255\n",
      "\n",
      "num = \n",
      "976\n",
      "ODOMETRY 0.000817797256546 0.10004345351 -0.000487946838883\n",
      "\n",
      "s =  26.723794341961515\n",
      "num = \n",
      "977\n",
      "SENSOR 4 2.60262150979 -0.352966199072\n",
      "\n",
      "num = \n",
      "978\n",
      "SENSOR 5 0.424676452945 2.88901052149\n",
      "\n",
      "num = \n",
      "979\n",
      "SENSOR 6 3.59691006575 -2.90660639627\n",
      "\n",
      "num = \n",
      "980\n",
      "SENSOR 7 5.01623167981 -1.69282038613\n",
      "\n",
      "num = \n",
      "981\n",
      "ODOMETRY -0.00016985459687 0.100166813627 -0.000416138794345\n",
      "\n",
      "s =  22.264894507982056\n",
      "num = \n",
      "982\n",
      "SENSOR 4 2.46722391333 -0.358689330939\n",
      "\n",
      "num = \n",
      "983\n",
      "SENSOR 5 0.728410082203 2.92696771892\n",
      "\n",
      "num = \n",
      "984\n",
      "SENSOR 6 3.69931602325 -3.05769449119\n",
      "\n",
      "num = \n",
      "985\n",
      "SENSOR 7 4.90911588997 -1.77993287749\n",
      "\n",
      "num = \n",
      "986\n",
      "ODOMETRY -0.000740161239631 0.099946466571 -0.000579137321138\n",
      "\n",
      "s =  24.330595252623933\n",
      "num = \n",
      "987\n",
      "SENSOR 4 2.50405584523 -0.404329629294\n",
      "\n",
      "num = \n",
      "988\n",
      "SENSOR 5 0.864756251687 2.99635813382\n",
      "\n",
      "num = \n",
      "989\n",
      "SENSOR 6 3.694743825 -2.9873286948\n",
      "\n",
      "num = \n",
      "990\n",
      "SENSOR 7 5.15715332497 -1.79515477029\n",
      "\n",
      "num = \n",
      "991\n",
      "ODOMETRY -0.000437083188435 0.0999808804556 0.000890801419272\n",
      "\n",
      "s =  21.14020345613471\n",
      "num = \n",
      "992\n",
      "SENSOR 4 2.3572469846 -0.389096966534\n",
      "\n",
      "num = \n",
      "993\n",
      "SENSOR 5 0.690146888284 3.02349390737\n",
      "\n",
      "num = \n",
      "994\n",
      "SENSOR 6 3.82334501138 -2.94734888733\n",
      "\n",
      "num = \n",
      "995\n",
      "SENSOR 7 5.08073719006 -1.96855887202\n",
      "\n",
      "num = \n",
      "996\n",
      "ODOMETRY -0.000874321925873 0.0999458696968 8.56945566271e-05\n",
      "\n",
      "s =  20.435648974552603\n",
      "num = \n",
      "997\n",
      "SENSOR 4 2.39888918079 -0.447117217511\n",
      "\n",
      "num = \n",
      "998\n",
      "SENSOR 5 0.86023668679 2.97547735845\n",
      "\n",
      "num = \n",
      "999\n",
      "SENSOR 6 4.02081163778 -3.00390373732\n",
      "\n",
      "num = \n",
      "1000\n",
      "SENSOR 7 4.94627758776 -1.84427858261\n",
      "\n",
      "num = \n",
      "1001\n",
      "ODOMETRY 0.000722779780641 0.0999986517393 0.00100112905585\n",
      "\n",
      "s =  25.459377621302785\n",
      "num = \n",
      "1002\n",
      "SENSOR 4 2.01316130595 -0.546108056049\n",
      "\n",
      "num = \n",
      "1003\n",
      "SENSOR 5 1.11128398567 2.98869875224\n",
      "\n",
      "num = \n",
      "1004\n",
      "SENSOR 6 4.02424492244 -3.018021057\n",
      "\n",
      "num = \n",
      "1005\n",
      "ODOMETRY 0.000377322274251 0.100032482955 -0.00100476153\n",
      "\n",
      "s =  25.137926485719877\n",
      "num = \n",
      "1006\n",
      "SENSOR 8 5.01132216348 -1.53027093874\n",
      "\n",
      "num = \n",
      "1007\n",
      "SENSOR 4 2.03598667275 -0.476272706599\n",
      "\n",
      "num = \n",
      "1008\n",
      "SENSOR 5 1.09095914672 2.96118594496\n",
      "\n",
      "num = \n",
      "1009\n",
      "SENSOR 6 4.3717601905 -2.98400041644\n",
      "\n",
      "num = \n",
      "1010\n",
      "ODOMETRY 0.000103285068718 0.099844928892 -0.000212903744611\n",
      "\n",
      "s =  25.5668347375793\n",
      "num = \n",
      "1011\n",
      "SENSOR 8 5.17695382649 -1.35967510436\n",
      "\n",
      "num = \n",
      "1012\n",
      "SENSOR 4 1.91464611544 -0.600068436416\n",
      "\n",
      "num = \n",
      "1013\n",
      "SENSOR 5 1.08900775511 3.08373128697\n",
      "\n",
      "num = \n",
      "1014\n",
      "SENSOR 6 4.19316351805 -2.91766656154\n",
      "\n",
      "num = \n",
      "1015\n",
      "ODOMETRY -0.000570983954104 0.0998006835355 -0.000393736445336\n",
      "\n",
      "s =  20.333179884089596\n",
      "num = \n",
      "1016\n",
      "SENSOR 8 5.15080883731 -1.48740727836\n",
      "\n",
      "num = \n",
      "1017\n",
      "SENSOR 4 2.02497851696 -0.578411591445\n",
      "\n",
      "num = \n",
      "1018\n",
      "SENSOR 5 1.30252982062 3.01039498199\n",
      "\n",
      "num = \n",
      "1019\n",
      "SENSOR 6 4.43300767063 -3.01734145055\n",
      "\n",
      "num = \n",
      "1020\n",
      "ODOMETRY -2.79671436544e-05 0.0998387645732 -0.000172575912285\n",
      "\n",
      "s =  26.135570807135352\n",
      "num = \n",
      "1021\n",
      "SENSOR 8 5.05417653953 -1.55508198493\n",
      "\n",
      "num = \n",
      "1022\n",
      "SENSOR 4 1.81998768919 -0.589913446142\n",
      "\n",
      "num = \n",
      "1023\n",
      "SENSOR 5 1.4171179651 3.01420890049\n",
      "\n",
      "num = \n",
      "1024\n",
      "SENSOR 6 4.39733320483 -3.03987545128\n",
      "\n",
      "num = \n",
      "1025\n",
      "ODOMETRY 0.000154785369827 0.100049969349 -6.59255211347e-05\n",
      "\n",
      "s =  26.49898239761595\n",
      "num = \n",
      "1026\n",
      "SENSOR 8 4.7709666279 -1.56083794768\n",
      "\n",
      "num = \n",
      "1027\n",
      "SENSOR 4 1.80337424176 -0.593466054092\n",
      "\n",
      "num = \n",
      "1028\n",
      "SENSOR 5 1.41925272588 2.99769789771\n",
      "\n",
      "num = \n",
      "1029\n",
      "SENSOR 6 4.67820931238 -3.01711900396\n",
      "\n",
      "num = \n",
      "1030\n",
      "ODOMETRY 2.9493271041e-06 0.100159646483 -0.000173111161273\n",
      "\n",
      "s =  22.640026179054964\n",
      "num = \n",
      "1031\n",
      "SENSOR 8 4.84159660561 -1.54918018097\n",
      "\n",
      "num = \n",
      "1032\n",
      "SENSOR 4 1.82853556343 -0.569756852067\n",
      "\n",
      "num = \n",
      "1033\n",
      "SENSOR 5 1.71577232664 3.0165812116\n",
      "\n",
      "num = \n",
      "1034\n",
      "SENSOR 6 4.79685312377 -2.9847854511\n",
      "\n",
      "num = \n",
      "1035\n",
      "ODOMETRY 0.000221347429842 0.0999932542251 4.61710003609e-07\n",
      "\n",
      "s =  24.749937457892006\n",
      "num = \n",
      "1036\n",
      "SENSOR 8 5.11162860306 -1.61584624651\n",
      "\n",
      "num = \n",
      "1037\n",
      "SENSOR 4 1.5265973046 -0.698443125143\n",
      "\n",
      "num = \n",
      "1038\n",
      "SENSOR 5 1.87975210097 3.07441562447\n",
      "\n",
      "num = \n",
      "1039\n",
      "SENSOR 6 4.79042617381 -2.99754572527\n",
      "\n",
      "num = \n",
      "1040\n",
      "ODOMETRY -0.000405236126401 0.0999594867741 0.000478836098344\n",
      "\n",
      "s =  21.50436095063978\n",
      "num = \n",
      "1041\n",
      "SENSOR 8 4.95247394004 -1.64180502137\n",
      "\n",
      "num = \n",
      "1042\n",
      "SENSOR 4 1.40458146476 -0.739963772181\n",
      "\n",
      "num = \n",
      "1043\n",
      "SENSOR 5 1.69547184588 3.05159115769\n",
      "\n",
      "num = \n",
      "1044\n",
      "SENSOR 6 5.00699834265 -2.93022199182\n",
      "\n",
      "num = \n",
      "1045\n",
      "ODOMETRY -0.000129778290186 0.100097526781 -0.000617912497951\n",
      "\n",
      "s =  21.03687119668865\n",
      "num = \n",
      "1046\n",
      "SENSOR 8 4.84392396805 -1.66080039076\n",
      "\n",
      "num = \n",
      "1047\n",
      "SENSOR 4 1.5250332195 -0.80762237269\n",
      "\n",
      "num = \n",
      "1048\n",
      "SENSOR 5 1.90559694082 3.01771398812\n",
      "\n",
      "num = \n",
      "1049\n",
      "ODOMETRY 0.000804014964526 0.0999935926395 -0.000596752473398\n",
      "\n",
      "s =  25.655785065960313\n",
      "num = \n",
      "1050\n",
      "SENSOR 8 5.03816901895 -1.6392643647\n",
      "\n",
      "num = \n",
      "1051\n",
      "SENSOR 4 1.33648084058 -0.923159854907\n",
      "\n",
      "num = \n",
      "1052\n",
      "SENSOR 5 2.0728823718 3.07145005502\n",
      "\n",
      "num = \n",
      "1053\n",
      "ODOMETRY 0.000519512157444 0.100005601916 -0.000442481296122\n",
      "\n",
      "s =  25.97523463513474\n",
      "num = \n",
      "1054\n",
      "SENSOR 8 5.19392104898 -1.63366696299\n",
      "\n",
      "num = \n",
      "1055\n",
      "SENSOR 4 1.25390352011 -0.917688809139\n",
      "\n",
      "num = \n",
      "1056\n",
      "SENSOR 5 2.0259117092 3.08680953208\n",
      "\n",
      "num = \n",
      "1057\n",
      "ODOMETRY 0.000518545149269 0.100106672256 -0.000680085566896\n",
      "\n",
      "s =  20.87925045530977\n",
      "num = \n",
      "1058\n",
      "SENSOR 8 5.29401573737 -1.73879394236\n",
      "\n",
      "num = \n",
      "1059\n",
      "SENSOR 4 1.25455552507 -0.947615371233\n",
      "\n",
      "num = \n",
      "1060\n",
      "SENSOR 5 2.26095034783 3.08398466845\n",
      "\n",
      "num = \n",
      "1061\n",
      "ODOMETRY 0.0003357688657 0.100163222892 0.000110244551625\n",
      "\n",
      "s =  25.517819925193525\n",
      "num = \n",
      "1062\n",
      "SENSOR 4 1.18312614702 -0.960995111536\n",
      "\n",
      "num = \n",
      "1063\n",
      "SENSOR 5 2.26763043052 3.06934406894\n",
      "\n",
      "num = \n",
      "1064\n",
      "ODOMETRY 0.000430850653941 0.0998367411175 0.000835973060685\n",
      "\n",
      "s =  24.33238371109806\n",
      "num = \n",
      "1065\n",
      "SENSOR 4 1.06923121207 -1.14245049279\n",
      "\n",
      "num = \n",
      "1066\n",
      "SENSOR 5 2.33774634921 3.00551613523\n",
      "\n",
      "num = \n",
      "1067\n",
      "ODOMETRY 0.000489529512024 0.100012584977 -0.000263665335503\n",
      "\n",
      "s =  23.334738191416303\n",
      "num = \n",
      "1068\n",
      "SENSOR 4 1.2373128062 -1.07140205445\n",
      "\n",
      "num = \n",
      "1069\n",
      "SENSOR 5 2.49745639729 3.08271863901\n",
      "\n",
      "num = \n",
      "1070\n",
      "ODOMETRY -0.000589244263489 0.0999165477319 -9.5595714624e-05\n",
      "\n",
      "s =  25.15563703018574\n",
      "num = \n",
      "1071\n",
      "SENSOR 4 0.968959950322 -1.26337247618\n",
      "\n",
      "num = \n",
      "1072\n",
      "SENSOR 5 2.62041754054 3.01523208133\n",
      "\n",
      "num = \n",
      "1073\n",
      "ODOMETRY -0.000178313151141 0.0998288421603 0.000563850386206\n",
      "\n",
      "s =  23.540657244716225\n",
      "num = \n",
      "1074\n",
      "SENSOR 4 0.973229245782 -1.35029523152\n",
      "\n",
      "num = \n",
      "1075\n",
      "SENSOR 5 2.66844887 3.16511831978\n",
      "\n",
      "num = \n",
      "1076\n",
      "ODOMETRY 6.62697092569e-05 0.0999660081459 -0.000849667064106\n",
      "\n",
      "s =  19.430552299204706\n",
      "num = \n",
      "1077\n",
      "SENSOR 4 1.04401463963 -1.42097694493\n",
      "\n",
      "num = \n",
      "1078\n",
      "SENSOR 5 2.90415604808 3.11236112414\n",
      "\n",
      "num = \n",
      "1079\n",
      "ODOMETRY 1.76914660159e-05 0.0999563005623 -0.00022885927661\n",
      "\n",
      "s =  24.00451402663826\n",
      "num = \n",
      "1080\n",
      "SENSOR 4 1.29437510247 -1.5289011353\n",
      "\n",
      "num = \n",
      "1081\n",
      "SENSOR 5 2.86396714602 3.08794930644\n",
      "\n",
      "num = \n",
      "1082\n",
      "ODOMETRY -8.02534406911e-05 0.10005961832 0.000126344672006\n",
      "\n",
      "s =  22.820663287452795\n",
      "num = \n",
      "1083\n",
      "SENSOR 4 0.992465959838 -1.72689703438\n",
      "\n",
      "num = \n",
      "1084\n",
      "SENSOR 5 3.08803485591 3.09714739683\n",
      "\n",
      "num = \n",
      "1085\n",
      "ODOMETRY -0.000662008997776 0.100086753897 0.000952775856129\n",
      "\n",
      "s =  24.80424701004457\n",
      "num = \n",
      "1086\n",
      "SENSOR 4 1.19052341306 -1.75400630169\n",
      "\n",
      "num = \n",
      "1087\n",
      "SENSOR 5 2.99736224351 3.15818817489\n",
      "\n",
      "num = \n",
      "1088\n",
      "ODOMETRY 0.000245798218798 0.100099488833 -0.000116288884125\n",
      "\n",
      "s =  19.213362906775174\n",
      "num = \n",
      "1089\n",
      "SENSOR 4 1.26027041169 -1.8362468384\n",
      "\n",
      "num = \n",
      "1090\n",
      "SENSOR 5 3.26078579751 3.06249765301\n",
      "\n",
      "num = \n",
      "1091\n",
      "ODOMETRY -0.00033066993293 0.10003421658 -0.202502535572\n",
      "\n",
      "s =  25.559886336150857\n",
      "num = \n",
      "1092\n",
      "SENSOR 4 1.08653704795 -1.65436051584\n",
      "\n",
      "num = \n",
      "1093\n",
      "SENSOR 5 3.30638523314 -3.02907186109\n",
      "\n",
      "num = \n",
      "1094\n",
      "ODOMETRY -0.00075296627474 0.100052859928 -0.20001891421\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1095\n",
      "SENSOR 4 1.00516039982 -1.57517898237\n",
      "\n",
      "num = \n",
      "1096\n",
      "SENSOR 5 3.40635747101 -2.78095552683\n",
      "\n",
      "num = \n",
      "1097\n",
      "ODOMETRY 0.000501575370796 0.0998696800146 -0.199776317342\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1098\n",
      "SENSOR 4 1.30078775238 -1.48379307405\n",
      "\n",
      "num = \n",
      "1099\n",
      "SENSOR 5 3.58906657882 -2.58732029875\n",
      "\n",
      "num = \n",
      "1100\n",
      "ODOMETRY 0.00103777344155 0.100244656587 -0.199153835376\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1101\n",
      "SENSOR 4 1.10268089092 -1.33538019579\n",
      "\n",
      "num = \n",
      "1102\n",
      "SENSOR 5 3.63795196178 -2.43550574418\n",
      "\n",
      "num = \n",
      "1103\n",
      "ODOMETRY 0.000583926909874 0.0999196567154 -0.201308212751\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1104\n",
      "SENSOR 4 0.852015029986 -1.23189302192\n",
      "\n",
      "num = \n",
      "1105\n",
      "SENSOR 5 3.49341886213 -2.13489304804\n",
      "\n",
      "num = \n",
      "1106\n",
      "ODOMETRY -0.000702643132925 0.0998534882331 -0.199839163491\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1107\n",
      "SENSOR 4 1.09049968489 -1.18367693384\n",
      "\n",
      "num = \n",
      "1108\n",
      "SENSOR 5 3.70974881309 -2.08550945479\n",
      "\n",
      "num = \n",
      "1109\n",
      "ODOMETRY 0.00080685758902 0.0999827967374 -0.20187053928\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1110\n",
      "SENSOR 4 0.985595018522 -1.026631531\n",
      "\n",
      "num = \n",
      "1111\n",
      "SENSOR 5 3.79448985354 -1.87589673757\n",
      "\n",
      "num = \n",
      "1112\n",
      "ODOMETRY 0.000449461350091 0.0997289080576 -0.200478965583\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1113\n",
      "SENSOR 8 4.88387824366 -0.437902554008\n",
      "\n",
      "num = \n",
      "1114\n",
      "SENSOR 4 0.966528654972 -1.01253901348\n",
      "\n",
      "num = \n",
      "1115\n",
      "SENSOR 5 3.78046518483 -1.66844353581\n",
      "\n",
      "num = \n",
      "1116\n",
      "ODOMETRY -0.000301789696019 0.0999700743532 -0.0492710535856\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1117\n",
      "SENSOR 8 4.81134234525 -0.431537430157\n",
      "\n",
      "num = \n",
      "1118\n",
      "SENSOR 4 0.966134452834 -1.02130491029\n",
      "\n",
      "num = \n",
      "1119\n",
      "SENSOR 5 3.9232853476 -1.59781660554\n",
      "\n",
      "num = \n",
      "1120\n",
      "ODOMETRY -0.000414497573217 0.100011669694 0.000415877323683\n",
      "\n",
      "s =  10.0\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "1121\n",
      "SENSOR 8 4.81561768132 -0.408368753456\n",
      "\n",
      "num = \n",
      "1122\n",
      "SENSOR 4 0.997563887482 -1.00808040996\n",
      "\n",
      "num = \n",
      "1123\n",
      "SENSOR 5 4.09903612696 -1.70829343966\n",
      "\n",
      "num = \n",
      "1124\n",
      "ODOMETRY -0.000759856533389 0.100030188988 2.25987579258e-05\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1125\n",
      "SENSOR 8 4.77967072204 -0.373187510037\n",
      "\n",
      "num = \n",
      "1126\n",
      "SENSOR 4 0.609158909746 -1.21111883929\n",
      "\n",
      "num = \n",
      "1127\n",
      "SENSOR 5 3.78000240925 -1.65403284021\n",
      "\n",
      "num = \n",
      "1128\n",
      "ODOMETRY 0.000704420580316 0.100169184112 -0.000101490126114\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1129\n",
      "SENSOR 8 4.59679993159 -0.378838534461\n",
      "\n",
      "num = \n",
      "1130\n",
      "SENSOR 4 0.790242431879 -1.31685583208\n",
      "\n",
      "num = \n",
      "1131\n",
      "SENSOR 5 3.98771440777 -1.83020211246\n",
      "\n",
      "num = \n",
      "1132\n",
      "ODOMETRY 0.000181557542154 0.100069708857 1.42478443593e-05\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1133\n",
      "SENSOR 8 4.56778014001 -0.36613383574\n",
      "\n",
      "num = \n",
      "1134\n",
      "SENSOR 4 0.87510561166 -1.44831905134\n",
      "\n",
      "num = \n",
      "1135\n",
      "SENSOR 5 3.87525047323 -1.69256375124\n",
      "\n",
      "num = \n",
      "1136\n",
      "ODOMETRY -0.000777139765299 0.1001417134 -0.00079200434962\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1137\n",
      "SENSOR 8 4.19719632604 -0.261534202769\n",
      "\n",
      "num = \n",
      "1138\n",
      "SENSOR 4 0.858714246901 -1.53468371952\n",
      "\n",
      "num = \n",
      "1139\n",
      "SENSOR 5 3.88133145769 -1.75822599281\n",
      "\n",
      "num = \n",
      "1140\n",
      "ODOMETRY 0.000360097094215 0.099919858615 -0.000121148783857\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1141\n",
      "SENSOR 8 4.50715584911 -0.257455481657\n",
      "\n",
      "num = \n",
      "1142\n",
      "SENSOR 4 0.787839207734 -1.58174432401\n",
      "\n",
      "num = \n",
      "1143\n",
      "SENSOR 5 4.12358900842 -1.77519503753\n",
      "\n",
      "num = \n",
      "1144\n",
      "ODOMETRY -0.000601647256999 0.0999647688218 -0.000411683851064\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1145\n",
      "SENSOR 8 4.22862787626 -0.44728691843\n",
      "\n",
      "num = \n",
      "1146\n",
      "SENSOR 4 0.932444153153 -1.83107179516\n",
      "\n",
      "num = \n",
      "1147\n",
      "SENSOR 5 3.91727595377 -1.93801251626\n",
      "\n",
      "num = \n",
      "1148\n",
      "ODOMETRY 4.90470373133e-05 0.100023238224 -0.000456455642778\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1149\n",
      "SENSOR 8 4.11192345096 -0.406862494981\n",
      "\n",
      "num = \n",
      "1150\n",
      "SENSOR 4 0.891217535437 -1.8607564518\n",
      "\n",
      "num = \n",
      "1151\n",
      "SENSOR 5 3.98253276681 -1.89291512866\n",
      "\n",
      "num = \n",
      "1152\n",
      "ODOMETRY 0.000785549997395 0.0999799616059 -0.000330360071553\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1153\n",
      "SENSOR 8 3.9289851575 -0.449194984839\n",
      "\n",
      "num = \n",
      "1154\n",
      "SENSOR 4 1.00167156057 -2.01967696204\n",
      "\n",
      "num = \n",
      "1155\n",
      "SENSOR 5 4.14363178156 -1.87819047788\n",
      "\n",
      "num = \n",
      "1156\n",
      "ODOMETRY -6.72413622959e-05 0.0999083237113 -0.000170062936099\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1157\n",
      "SENSOR 8 3.95153552594 -0.509158125128\n",
      "\n",
      "num = \n",
      "1158\n",
      "SENSOR 4 0.821664421208 -2.09663665678\n",
      "\n",
      "num = \n",
      "1159\n",
      "SENSOR 5 4.16031964143 -1.96049724379\n",
      "\n",
      "num = \n",
      "1160\n",
      "ODOMETRY 9.25859288234e-05 0.100001045345 0.000410994946873\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1161\n",
      "SENSOR 8 4.00269128543 -0.502870036672\n",
      "\n",
      "num = \n",
      "1162\n",
      "SENSOR 4 0.918246651355 -2.15061774972\n",
      "\n",
      "num = \n",
      "1163\n",
      "SENSOR 5 4.18294453461 -1.98228526459\n",
      "\n",
      "num = \n",
      "1164\n",
      "ODOMETRY -0.0002943371593 0.100037928614 -0.000456088383145\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1165\n",
      "SENSOR 8 3.79290718386 -0.417157050609\n",
      "\n",
      "num = \n",
      "1166\n",
      "SENSOR 4 1.02284237301 -2.15575466276\n",
      "\n",
      "num = \n",
      "1167\n",
      "SENSOR 5 4.08283726349 -1.97294438441\n",
      "\n",
      "num = \n",
      "1168\n",
      "ODOMETRY 0.000940263528964 0.0999674482045 0.000501767783166\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1169\n",
      "SENSOR 8 3.88138515918 -0.514811538337\n",
      "\n",
      "num = \n",
      "1170\n",
      "SENSOR 4 1.00490629589 -2.35600588873\n",
      "\n",
      "num = \n",
      "1171\n",
      "SENSOR 5 4.18955189506 -1.95466742279\n",
      "\n",
      "num = \n",
      "1172\n",
      "SENSOR 7 4.98499643512 -0.760610149068\n",
      "\n",
      "num = \n",
      "1173\n",
      "ODOMETRY -0.000152778980638 0.0999999474003 0.00132375693796\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1174\n",
      "SENSOR 8 3.56945668288 -0.534221926119\n",
      "\n",
      "num = \n",
      "1175\n",
      "SENSOR 4 1.20354433787 -2.4127474104\n",
      "\n",
      "num = \n",
      "1176\n",
      "SENSOR 5 4.22957670694 -2.09874712758\n",
      "\n",
      "num = \n",
      "1177\n",
      "SENSOR 7 4.99776806826 -0.890795466541\n",
      "\n",
      "num = \n",
      "1178\n",
      "ODOMETRY 0.00035756875864 0.0999491733674 -4.5966767141e-05\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1179\n",
      "SENSOR 8 3.36658801475 -0.485774717208\n",
      "\n",
      "num = \n",
      "1180\n",
      "SENSOR 4 1.25530485362 -2.40777577181\n",
      "\n",
      "num = \n",
      "1181\n",
      "SENSOR 5 4.19578088512 -2.13354293921\n",
      "\n",
      "num = \n",
      "1182\n",
      "SENSOR 7 4.61744207403 -0.961305296424\n",
      "\n",
      "num = \n",
      "1183\n",
      "ODOMETRY -0.000284518151215 0.099906976938 0.00078841137723\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1184\n",
      "SENSOR 8 3.60894625765 -0.50632839355\n",
      "\n",
      "num = \n",
      "1185\n",
      "SENSOR 4 1.34186357812 -2.52872581674\n",
      "\n",
      "num = \n",
      "1186\n",
      "SENSOR 5 4.23360437477 -2.13313777171\n",
      "\n",
      "num = \n",
      "1187\n",
      "SENSOR 7 4.91039126956 -0.875796833263\n",
      "\n",
      "num = \n",
      "1188\n",
      "ODOMETRY 0.000606393069801 0.100233353139 0.000881680707527\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1189\n",
      "SENSOR 8 3.46127890783 -0.565370507185\n",
      "\n",
      "num = \n",
      "1190\n",
      "SENSOR 4 1.41736771362 -2.57107109822\n",
      "\n",
      "num = \n",
      "1191\n",
      "SENSOR 5 4.26754732102 -2.04820737799\n",
      "\n",
      "num = \n",
      "1192\n",
      "SENSOR 7 4.63176475722 -0.925353424147\n",
      "\n",
      "num = \n",
      "1193\n",
      "ODOMETRY -9.95037351493e-05 0.100057160996 5.1179037987e-05\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1194\n",
      "SENSOR 8 3.31021687755 -0.578276719592\n",
      "\n",
      "num = \n",
      "1195\n",
      "SENSOR 4 1.24650229452 -2.56023060759\n",
      "\n",
      "num = \n",
      "1196\n",
      "SENSOR 5 4.21212445252 -2.06242062662\n",
      "\n",
      "num = \n",
      "1197\n",
      "SENSOR 7 4.70694640847 -0.892263945175\n",
      "\n",
      "num = \n",
      "1198\n",
      "ODOMETRY -0.00037265751809 0.0998440295294 -0.000708863996711\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1199\n",
      "SENSOR 8 3.29017114738 -0.5666416654\n",
      "\n",
      "num = \n",
      "1200\n",
      "SENSOR 4 1.40037409227 -2.63005405854\n",
      "\n",
      "num = \n",
      "1201\n",
      "SENSOR 5 4.42372428685 -2.02713569291\n",
      "\n",
      "num = \n",
      "1202\n",
      "SENSOR 7 4.51277082853 -0.937391880516\n",
      "\n",
      "num = \n",
      "1203\n",
      "ODOMETRY 0.000549130179465 0.100288755278 1.82426624936e-05\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1204\n",
      "SENSOR 8 3.16354926129 -0.650027075034\n",
      "\n",
      "num = \n",
      "1205\n",
      "SENSOR 4 1.56581587238 -2.64689180914\n",
      "\n",
      "num = \n",
      "1206\n",
      "SENSOR 5 4.56961487012 -2.06675043777\n",
      "\n",
      "num = \n",
      "1207\n",
      "SENSOR 7 4.38471094611 -0.972289005796\n",
      "\n",
      "num = \n",
      "1208\n",
      "ODOMETRY 0.000645178622869 0.100100339465 0.000192909709343\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1209\n",
      "SENSOR 8 2.77057282962 -0.623234920866\n",
      "\n",
      "num = \n",
      "1210\n",
      "SENSOR 4 1.77583036548 -2.72740306333\n",
      "\n",
      "num = \n",
      "1211\n",
      "SENSOR 5 4.51666797485 -2.10003063596\n",
      "\n",
      "num = \n",
      "1212\n",
      "SENSOR 7 4.35278661115 -1.06562270814\n",
      "\n",
      "num = \n",
      "1213\n",
      "ODOMETRY 0.000220714748943 0.100146506964 -5.5813601736e-05\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1214\n",
      "SENSOR 8 3.03740228237 -0.550455398411\n",
      "\n",
      "num = \n",
      "1215\n",
      "SENSOR 4 1.8624492249 -2.72680554325\n",
      "\n",
      "num = \n",
      "1216\n",
      "SENSOR 5 4.67196649744 -2.18447056445\n",
      "\n",
      "num = \n",
      "1217\n",
      "SENSOR 7 4.39648251174 -1.01413606174\n",
      "\n",
      "num = \n",
      "1218\n",
      "ODOMETRY -5.98619821553e-05 0.100148613965 0.000573344502251\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1219\n",
      "SENSOR 8 2.7278804723 -0.628672938564\n",
      "\n",
      "num = \n",
      "1220\n",
      "SENSOR 4 1.86366000409 -2.79069775944\n",
      "\n",
      "num = \n",
      "1221\n",
      "SENSOR 5 4.66578141022 -2.08932932486\n",
      "\n",
      "num = \n",
      "1222\n",
      "SENSOR 7 4.33487504614 -1.10438718949\n",
      "\n",
      "num = \n",
      "1223\n",
      "ODOMETRY -0.000254395332147 0.100024640789 -0.000652688628961\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1224\n",
      "SENSOR 8 2.56015428625 -0.67117844422\n",
      "\n",
      "num = \n",
      "1225\n",
      "SENSOR 4 2.04180033566 -2.67797111569\n",
      "\n",
      "num = \n",
      "1226\n",
      "SENSOR 5 4.57408937008 -2.20314984329\n",
      "\n",
      "num = \n",
      "1227\n",
      "SENSOR 7 4.29239512231 -0.997949271689\n",
      "\n",
      "num = \n",
      "1228\n",
      "ODOMETRY -0.000292250195526 0.0997511320397 -9.83808886044e-05\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1229\n",
      "SENSOR 8 2.72022086244 -0.695356021114\n",
      "\n",
      "num = \n",
      "1230\n",
      "SENSOR 4 2.02918390862 -2.74585989066\n",
      "\n",
      "num = \n",
      "1231\n",
      "SENSOR 5 4.71390230158 -2.17310210951\n",
      "\n",
      "num = \n",
      "1232\n",
      "SENSOR 7 4.25828714996 -1.02936430776\n",
      "\n",
      "num = \n",
      "1233\n",
      "ODOMETRY 0.000357262499533 0.0998075757931 -0.000666443084714\n",
      "\n",
      "s =  10.0\n",
      "num = \n",
      "1234\n",
      "SENSOR 8 2.62623417118 -0.750471723584\n",
      "\n",
      "num = \n",
      "1235\n",
      "SENSOR 1 4.94718779801 0.154528557539\n",
      "\n",
      "num = \n",
      "1236\n",
      "SENSOR 4 2.3634761234 -2.8010846603\n",
      "\n",
      "num = \n",
      "1237\n",
      "SENSOR 5 4.94601814532 -2.24508315079\n",
      "\n",
      "num = \n",
      "1238\n",
      "SENSOR 7 4.34678367104 -1.03310054474\n",
      "\n",
      "num = \n",
      "1239\n",
      "ODOMETRY -7.64304058285e-05 0.0998892133306 -0.000859021990686\n",
      "\n",
      "s =  12.092386929519634\n",
      "num = \n",
      "1240\n",
      "SENSOR 8 2.42744412012 -0.777132921782\n",
      "\n",
      "num = \n",
      "1241\n",
      "SENSOR 1 4.95896046218 0.00996216000222\n",
      "\n",
      "num = \n",
      "1242\n",
      "SENSOR 4 2.32895901265 -2.78283197663\n",
      "\n",
      "num = \n",
      "1243\n",
      "SENSOR 5 5.01790714386 -2.29030546408\n",
      "\n",
      "num = \n",
      "1244\n",
      "SENSOR 7 4.26464120422 -1.11911392109\n",
      "\n",
      "num = \n",
      "1245\n",
      "ODOMETRY 9.21665546004e-05 0.0998967435925 0.000385948024594\n",
      "\n",
      "s =  13.04501983686867\n",
      "num = \n",
      "1246\n",
      "SENSOR 8 2.26591011781 -0.788648671624\n",
      "\n",
      "num = \n",
      "1247\n",
      "SENSOR 1 4.75505557319 0.0837556730636\n",
      "\n",
      "num = \n",
      "1248\n",
      "SENSOR 4 2.49676323824 -2.91181576786\n",
      "\n",
      "num = \n",
      "1249\n",
      "SENSOR 5 4.81530740064 -2.26659069566\n",
      "\n",
      "num = \n",
      "1250\n",
      "SENSOR 7 4.17392574758 -1.16985248411\n",
      "\n",
      "num = \n",
      "1251\n",
      "ODOMETRY -0.000187481724296 0.0999950597605 -7.20515157633e-05\n",
      "\n",
      "s =  14.809162201174075\n",
      "num = \n",
      "1252\n",
      "SENSOR 8 2.47675207959 -0.826591574279\n",
      "\n",
      "num = \n",
      "1253\n",
      "SENSOR 1 4.67777813782 0.0920068525674\n",
      "\n",
      "num = \n",
      "1254\n",
      "SENSOR 4 2.66877558249 -2.79790119519\n",
      "\n",
      "num = \n",
      "1255\n",
      "SENSOR 7 3.98859244528 -1.05372936242\n",
      "\n",
      "num = \n",
      "1256\n",
      "ODOMETRY 0.000565775881756 0.100130752871 0.00046768640825\n",
      "\n",
      "s =  14.291022247316231\n",
      "num = \n",
      "1257\n",
      "SENSOR 8 2.32402499802 -0.873627246347\n",
      "\n",
      "num = \n",
      "1258\n",
      "SENSOR 1 4.61288204783 0.0730722817372\n",
      "\n",
      "num = \n",
      "1259\n",
      "SENSOR 4 2.64002607037 -2.75912386153\n",
      "\n",
      "num = \n",
      "1260\n",
      "SENSOR 7 4.11400979091 -1.05867248438\n",
      "\n",
      "num = \n",
      "1261\n",
      "ODOMETRY -0.000504678080456 0.100138281338 -0.000176396449462\n",
      "\n",
      "s =  12.907734484814332\n",
      "num = \n",
      "1262\n",
      "SENSOR 8 2.10660515224 -0.775733009255\n",
      "\n",
      "num = \n",
      "1263\n",
      "SENSOR 1 4.49732848596 0.1399407981\n",
      "\n",
      "num = \n",
      "1264\n",
      "SENSOR 4 2.70805985015 -2.73790544347\n",
      "\n",
      "num = \n",
      "1265\n",
      "SENSOR 7 3.80458322393 -1.15161342715\n",
      "\n",
      "num = \n",
      "1266\n",
      "ODOMETRY -0.000545484301199 0.099887781115 0.000779096774788\n",
      "\n",
      "s =  13.485818642479757\n",
      "num = \n",
      "1267\n",
      "SENSOR 8 2.1033328619 -0.978837993775\n",
      "\n",
      "num = \n",
      "1268\n",
      "SENSOR 1 4.15012235247 0.115198940166\n",
      "\n",
      "num = \n",
      "1269\n",
      "SENSOR 4 2.96559499127 -2.93468967821\n",
      "\n",
      "num = \n",
      "1270\n",
      "SENSOR 7 3.84434779444 -1.24369085168\n",
      "\n",
      "num = \n",
      "1271\n",
      "ODOMETRY 0.00107575864537 0.0998095404138 -0.00137182038578\n",
      "\n",
      "s =  18.196536983582156\n",
      "num = \n",
      "1272\n",
      "SENSOR 8 1.9528490621 -0.96980216209\n",
      "\n",
      "num = \n",
      "1273\n",
      "SENSOR 1 4.2190898955 0.0543250036884\n",
      "\n",
      "num = \n",
      "1274\n",
      "SENSOR 4 2.99472589409 -2.77283231003\n",
      "\n",
      "num = \n",
      "1275\n",
      "SENSOR 7 4.12265478835 -1.29723843464\n",
      "\n",
      "num = \n",
      "1276\n",
      "ODOMETRY -0.000397231850927 0.099816854061 0.000108127268484\n",
      "\n",
      "s =  20.787772901894456\n",
      "num = \n",
      "1277\n",
      "SENSOR 8 2.05640355738 -1.0023417256\n",
      "\n",
      "num = \n",
      "1278\n",
      "SENSOR 1 4.09120868689 0.0416921883954\n",
      "\n",
      "num = \n",
      "1279\n",
      "SENSOR 4 2.98268677711 -2.92992008808\n",
      "\n",
      "num = \n",
      "1280\n",
      "SENSOR 7 4.12487146657 -1.2688588886\n",
      "\n",
      "num = \n",
      "1281\n",
      "ODOMETRY -0.000265772398546 0.100036458306 -0.000370302324979\n",
      "\n",
      "s =  20.010113617001316\n",
      "num = \n",
      "1282\n",
      "SENSOR 8 2.01315072466 -1.13621530697\n",
      "\n",
      "num = \n",
      "1283\n",
      "SENSOR 1 4.12331880519 0.0678802042158\n",
      "\n",
      "num = \n",
      "1284\n",
      "SENSOR 4 3.09872394769 -2.88428146089\n",
      "\n",
      "num = \n",
      "1285\n",
      "SENSOR 7 3.75634279948 -1.16433634981\n",
      "\n",
      "num = \n",
      "1286\n",
      "ODOMETRY -0.000541620482173 0.100160774973 6.10600709966e-05\n",
      "\n",
      "s =  18.53495823072997\n",
      "num = \n",
      "1287\n",
      "SENSOR 8 1.87817851442 -1.01366154542\n",
      "\n",
      "num = \n",
      "1288\n",
      "SENSOR 1 3.9816895161 0.180426105664\n",
      "\n",
      "num = \n",
      "1289\n",
      "SENSOR 4 3.22088798607 -2.88735444682\n",
      "\n",
      "num = \n",
      "1290\n",
      "SENSOR 7 3.85561122569 -1.2481610472\n",
      "\n",
      "num = \n",
      "1291\n",
      "ODOMETRY 0.000392164302967 0.100030417468 5.94884613321e-05\n",
      "\n",
      "s =  12.644321179744697\n",
      "num = \n",
      "1292\n",
      "SENSOR 8 1.99986008232 -1.17046431049\n",
      "\n",
      "num = \n",
      "1293\n",
      "SENSOR 1 4.01876601491 0.115777110231\n",
      "\n",
      "num = \n",
      "1294\n",
      "SENSOR 4 3.25397531129 -2.9525539699\n",
      "\n",
      "num = \n",
      "1295\n",
      "SENSOR 7 4.05394324029 -1.2227338882\n",
      "\n",
      "num = \n",
      "1296\n",
      "ODOMETRY -0.00125942131684 0.10020113288 -1.61507159024e-05\n",
      "\n",
      "s =  12.961340696594839\n",
      "num = \n",
      "1297\n",
      "SENSOR 8 1.75085656325 -1.14737196094\n",
      "\n",
      "num = \n",
      "1298\n",
      "SENSOR 1 3.55208748524 -0.0286615110807\n",
      "\n",
      "num = \n",
      "1299\n",
      "SENSOR 4 3.50804055398 -2.88753787699\n",
      "\n",
      "num = \n",
      "1300\n",
      "SENSOR 7 3.82246700917 -1.36929168223\n",
      "\n",
      "num = \n",
      "1301\n",
      "ODOMETRY 0.000360444182897 0.0999819575854 -0.000301837577909\n",
      "\n",
      "s =  17.471418655090417\n",
      "num = \n",
      "1302\n",
      "SENSOR 8 1.8391107717 -1.17035830933\n",
      "\n",
      "num = \n",
      "1303\n",
      "SENSOR 1 3.59039567041 -0.0342919614556\n",
      "\n",
      "num = \n",
      "1304\n",
      "SENSOR 4 3.44861173399 -2.94728150081\n",
      "\n",
      "num = \n",
      "1305\n",
      "SENSOR 7 3.76933082575 -1.32508249858\n",
      "\n",
      "num = \n",
      "1306\n",
      "ODOMETRY 1.72549656928e-05 0.100174178721 -0.197837957771\n",
      "\n",
      "s =  22.64071983670374\n",
      "num = \n",
      "1307\n",
      "SENSOR 8 1.84979216964 -1.02686291799\n",
      "\n",
      "num = \n",
      "1308\n",
      "SENSOR 1 3.54469869065 0.29649577269\n",
      "\n",
      "num = \n",
      "1309\n",
      "SENSOR 4 3.58131266801 -2.63543212143\n",
      "\n",
      "num = \n",
      "1310\n",
      "SENSOR 7 3.52211123328 -1.13031334482\n",
      "\n",
      "num = \n",
      "1311\n",
      "ODOMETRY 0.000833159052788 0.0995224621484 -0.201127639385\n",
      "\n",
      "s =  23.682238719905442\n",
      "num = \n",
      "1312\n",
      "SENSOR 8 1.96476940353 -1.04247072669\n",
      "\n",
      "num = \n",
      "1313\n",
      "SENSOR 1 3.36338823798 0.460888904894\n",
      "\n",
      "num = \n",
      "1314\n",
      "SENSOR 4 3.41856587674 -2.62263158505\n",
      "\n",
      "num = \n",
      "1315\n",
      "SENSOR 7 3.62669913715 -1.03612445929\n",
      "\n",
      "num = \n",
      "1316\n",
      "ODOMETRY 0.000466948919961 0.0999586066041 -0.199214878801\n",
      "\n",
      "s =  24.142440393457708\n",
      "num = \n",
      "1317\n",
      "SENSOR 8 1.50569090993 -0.692985172161\n",
      "\n",
      "num = \n",
      "1318\n",
      "SENSOR 1 3.40158919367 0.676179021527\n",
      "\n",
      "num = \n",
      "1319\n",
      "SENSOR 4 3.82602221094 -2.34847085741\n",
      "\n",
      "num = \n",
      "1320\n",
      "SENSOR 7 3.74222753671 -0.842560288278\n",
      "\n",
      "num = \n",
      "1321\n",
      "ODOMETRY -0.000160679838507 0.100406646411 -0.20513341706\n",
      "\n",
      "s =  24.28822599674353\n",
      "num = \n",
      "1322\n",
      "SENSOR 8 1.75964929425 -0.579092402868\n",
      "\n",
      "num = \n",
      "1323\n",
      "SENSOR 1 3.25666160955 0.920760130139\n",
      "\n",
      "num = \n",
      "1324\n",
      "SENSOR 4 3.74182183993 -2.25188172996\n",
      "\n",
      "num = \n",
      "1325\n",
      "SENSOR 7 3.63271014603 -0.685588391155\n",
      "\n",
      "num = \n",
      "1326\n",
      "ODOMETRY -0.000808106078492 0.100040068005 -0.199580511749\n",
      "\n",
      "s =  24.091794432701896\n",
      "num = \n",
      "1327\n",
      "SENSOR 8 1.46234266827 -0.421036150351\n",
      "\n",
      "num = \n",
      "1328\n",
      "SENSOR 1 3.22740135581 1.08076644574\n",
      "\n",
      "num = \n",
      "1329\n",
      "SENSOR 4 3.90427768799 -1.96806270903\n",
      "\n",
      "num = \n",
      "1330\n",
      "SENSOR 7 3.65826711924 -0.47952229817\n",
      "\n",
      "num = \n",
      "1331\n",
      "ODOMETRY -0.000145486837627 0.100049187631 -0.200214103677\n",
      "\n",
      "s =  25.197771796672196\n",
      "num = \n",
      "1332\n",
      "SENSOR 8 1.35631755589 -0.254560751908\n",
      "\n",
      "num = \n",
      "1333\n",
      "SENSOR 1 3.23468633825 1.38502505236\n",
      "\n",
      "num = \n",
      "1334\n",
      "SENSOR 4 3.88111579476 -1.75925703229\n",
      "\n",
      "num = \n",
      "1335\n",
      "SENSOR 7 3.38003924837 -0.342820131699\n",
      "\n",
      "num = \n",
      "1336\n",
      "ODOMETRY 0.000807682826199 0.0998576929163 -0.199650341973\n",
      "\n",
      "s =  20.90845456403398\n",
      "num = \n",
      "1337\n",
      "SENSOR 8 1.34275233187 -0.0851814310991\n",
      "\n",
      "num = \n",
      "1338\n",
      "SENSOR 1 3.09308576884 1.56870685828\n",
      "\n",
      "num = \n",
      "1339\n",
      "SENSOR 4 4.02562092446 -1.65528286572\n",
      "\n",
      "num = \n",
      "1340\n",
      "SENSOR 7 3.58514954149 -0.187873493014\n",
      "\n",
      "num = \n",
      "1341\n",
      "ODOMETRY -0.000428515032312 0.100251047196 -0.149947833893\n",
      "\n",
      "s =  23.51570508380519\n",
      "num = \n",
      "1342\n",
      "SENSOR 8 1.1879400183 0.0830958754533\n",
      "\n",
      "num = \n",
      "1343\n",
      "SENSOR 1 2.99038531627 1.8317054283\n",
      "\n",
      "num = \n",
      "1344\n",
      "SENSOR 4 3.85993494084 -1.51825245342\n",
      "\n",
      "num = \n",
      "1345\n",
      "SENSOR 7 3.21978341217 0.10188066333\n",
      "\n",
      "num = \n",
      "1346\n",
      "ODOMETRY 0.000329703084439 0.0999895285689 0.000238320945858\n",
      "\n",
      "s =  27.483320658146216\n",
      "num = \n",
      "1347\n",
      "SENSOR 8 1.16107707643 0.098391493434\n",
      "\n",
      "num = \n",
      "1348\n",
      "SENSOR 1 3.39850398338 1.85628260369\n",
      "\n",
      "num = \n",
      "1349\n",
      "SENSOR 4 3.87738569246 -1.46107729608\n",
      "\n",
      "num = \n",
      "1350\n",
      "SENSOR 7 2.98749025458 -0.0518862987595\n",
      "\n",
      "num = \n",
      "1351\n",
      "ODOMETRY 0.000270843716893 0.100179945235 0.000184824435447\n",
      "\n",
      "s =  23.43911823957843\n",
      "num = \n",
      "1352\n",
      "SENSOR 8 1.06344667542 0.0572593089771\n",
      "\n",
      "num = \n",
      "1353\n",
      "SENSOR 1 3.30192232871 1.83214856291\n",
      "\n",
      "num = \n",
      "1354\n",
      "SENSOR 4 3.85220965513 -1.58171538315\n",
      "\n",
      "num = \n",
      "1355\n",
      "SENSOR 7 3.05644259267 -0.0733806410309\n",
      "\n",
      "num = \n",
      "1356\n",
      "ODOMETRY 0.000857409131526 0.0999703558845 -4.28418099664e-06\n",
      "\n",
      "s =  52.18711881229997\n",
      "num = \n",
      "1357\n",
      "SENSOR 8 0.991950183533 0.022852498629\n",
      "\n",
      "num = \n",
      "1358\n",
      "SENSOR 1 3.30165800592 1.82615385918\n",
      "\n",
      "num = \n",
      "1359\n",
      "SENSOR 4 3.80323123031 -1.60852485889\n",
      "\n",
      "num = \n",
      "1360\n",
      "SENSOR 7 3.02332044161 0.0177212878477\n",
      "\n",
      "num = \n",
      "1361\n",
      "ODOMETRY -0.00022595304179 0.100106578685 2.98408842206e-05\n",
      "\n",
      "s =  87.40336487074315\n",
      "num = \n",
      "1362\n",
      "SENSOR 8 0.741572769565 0.0932227988397\n",
      "\n",
      "num = \n",
      "1363\n",
      "SENSOR 1 3.30586753539 1.94902272948\n",
      "\n",
      "num = \n",
      "1364\n",
      "SENSOR 4 3.80676660474 -1.64142290406\n",
      "\n",
      "num = \n",
      "1365\n",
      "SENSOR 7 2.93534845328 0.0541856313413\n",
      "\n",
      "num = \n",
      "1366\n",
      "ODOMETRY -0.00028842880877 0.100083357215 0.000286729693161\n",
      "\n",
      "s =  61.68779152614637\n",
      "num = \n",
      "1367\n",
      "SENSOR 8 0.754895629529 0.138563110383\n",
      "\n",
      "num = \n",
      "1368\n",
      "SENSOR 1 3.22600674494 1.97326623813\n",
      "\n",
      "num = \n",
      "1369\n",
      "SENSOR 4 3.99586155101 -1.67216259591\n",
      "\n",
      "num = \n",
      "1370\n",
      "SENSOR 7 2.85871262055 -0.0489927191342\n",
      "\n",
      "num = \n",
      "1371\n",
      "ODOMETRY 0.00073499821176 0.0999470991446 -0.000399438313724\n",
      "\n",
      "s =  87.62974735074376\n",
      "num = \n",
      "1372\n",
      "SENSOR 8 0.577463296768 0.168806915689\n",
      "\n",
      "num = \n",
      "1373\n",
      "SENSOR 1 3.61502785225 1.95506173105\n",
      "\n",
      "num = \n",
      "1374\n",
      "SENSOR 4 3.95219296527 -1.66140037674\n",
      "\n",
      "num = \n",
      "1375\n",
      "SENSOR 7 2.74365846661 0.091096107858\n",
      "\n",
      "num = \n",
      "1376\n",
      "ODOMETRY -4.31093421434e-05 0.0998743390741 0.000156696822532\n",
      "\n",
      "s =  44.28580009283859\n",
      "num = \n",
      "1377\n",
      "SENSOR 8 0.589051083152 0.129088983247\n",
      "\n",
      "num = \n",
      "1378\n",
      "SENSOR 1 3.39919780051 1.94412712004\n",
      "\n",
      "num = \n",
      "1379\n",
      "SENSOR 4 3.99857884154 -1.70485592084\n",
      "\n",
      "num = \n",
      "1380\n",
      "SENSOR 7 2.55497337551 0.0608138024856\n",
      "\n",
      "num = \n",
      "1381\n",
      "ODOMETRY -0.000243566312038 0.10004641358 -0.000196329513877\n",
      "\n",
      "s =  92.1664078871916\n",
      "num = \n",
      "1382\n",
      "SENSOR 8 0.38618074963 0.250102136286\n",
      "\n",
      "num = \n",
      "1383\n",
      "SENSOR 1 3.34602941186 1.97196843636\n",
      "\n",
      "num = \n",
      "1384\n",
      "SENSOR 4 3.86932679866 -1.72900971123\n",
      "\n",
      "num = \n",
      "1385\n",
      "SENSOR 7 2.59840861212 0.0698763171769\n",
      "\n",
      "num = \n",
      "1386\n",
      "ODOMETRY 0.000166426733439 0.100022177361 0.000496357405707\n",
      "\n",
      "s =  93.89632389976191\n",
      "num = \n",
      "1387\n",
      "SENSOR 8 0.29236369946 0.137333892567\n",
      "\n",
      "num = \n",
      "1388\n",
      "SENSOR 1 3.56145390971 1.980721848\n",
      "\n",
      "num = \n",
      "1389\n",
      "SENSOR 4 3.88388761474 -1.82703179252\n",
      "\n",
      "num = \n",
      "1390\n",
      "SENSOR 7 2.47702971088 0.129590298903\n",
      "\n",
      "num = \n",
      "1391\n",
      "ODOMETRY 0.000200725157797 0.100078981451 -0.000151872288925\n",
      "\n",
      "s =  68.53635654698907\n",
      "num = \n",
      "1392\n",
      "SENSOR 8 0.365729111397 0.349748787472\n",
      "\n",
      "num = \n",
      "1393\n",
      "SENSOR 1 3.47041530697 2.00066575632\n",
      "\n",
      "num = \n",
      "1394\n",
      "SENSOR 4 4.14389122248 -1.78316157679\n",
      "\n",
      "num = \n",
      "1395\n",
      "SENSOR 7 2.40075146509 0.0146665231675\n",
      "\n",
      "num = \n",
      "1396\n",
      "ODOMETRY -0.000579333651918 0.0999553366096 -0.000117283755679\n",
      "\n",
      "s =  150.32008944774313\n",
      "num = \n",
      "1397\n",
      "SENSOR 8 0.0502863657936 0.410526774662\n",
      "\n",
      "num = \n",
      "1398\n",
      "SENSOR 1 3.69067789238 2.17805074444\n",
      "\n",
      "num = \n",
      "1399\n",
      "SENSOR 4 4.09027678434 -1.83041726386\n",
      "\n",
      "num = \n",
      "1400\n",
      "SENSOR 7 1.98014597944 0.0576865719976\n",
      "\n",
      "num = \n",
      "1401\n",
      "ODOMETRY 0.0003785086232 0.0998552643556 8.0753994939e-05\n",
      "\n",
      "s =  24.61827818247371\n",
      "num = \n",
      "1402\n",
      "SENSOR 8 0.168342598614 0.997314312587\n",
      "\n",
      "num = \n",
      "1403\n",
      "SENSOR 1 3.65030002905 2.04433177986\n",
      "\n",
      "num = \n",
      "1404\n",
      "SENSOR 4 4.16845827588 -1.89464589741\n",
      "\n",
      "num = \n",
      "1405\n",
      "SENSOR 7 2.02099297852 0.0343928604331\n",
      "\n",
      "num = \n",
      "1406\n",
      "ODOMETRY 0.000631351437857 0.0998678082397 -0.00108162501603\n",
      "\n",
      "s =  38.2256637411426\n",
      "num = \n",
      "1407\n",
      "SENSOR 8 0.228046714232 2.16782157887\n",
      "\n",
      "num = \n",
      "1408\n",
      "SENSOR 1 3.83771899035 2.13991521202\n",
      "\n",
      "num = \n",
      "1409\n",
      "SENSOR 4 3.91035210899 -1.78508814013\n",
      "\n",
      "num = \n",
      "1410\n",
      "SENSOR 7 2.09404921795 0.073225887195\n",
      "\n",
      "num = \n",
      "1411\n",
      "ODOMETRY -0.000193688869607 0.0999886926612 -1.98918895355e-05\n",
      "\n",
      "s =  33.02422272144006\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "num = \n",
      "1412\n",
      "SENSOR 8 0.075021317958 2.66991541795\n",
      "\n",
      "num = \n",
      "1413\n",
      "SENSOR 1 3.94401764174 2.30453132583\n",
      "\n",
      "num = \n",
      "1414\n",
      "SENSOR 3 5.04767387692 0.693054605253\n",
      "\n",
      "num = \n",
      "1415\n",
      "SENSOR 4 4.04181014378 -1.86436690644\n",
      "\n",
      "num = \n",
      "1416\n",
      "SENSOR 7 1.9697847454 0.0510655998543\n",
      "\n",
      "num = \n",
      "1417\n",
      "ODOMETRY 7.47546602372e-06 0.0999796433801 -0.000779277957618\n",
      "\n",
      "s =  63.08075830434348\n",
      "num = \n",
      "1418\n",
      "SENSOR 8 0.208235129731 2.86726458023\n",
      "\n",
      "num = \n",
      "1419\n",
      "SENSOR 1 3.54294808766 2.09165642135\n",
      "\n",
      "num = \n",
      "1420\n",
      "SENSOR 3 4.73828954496 0.641679611239\n",
      "\n",
      "num = \n",
      "1421\n",
      "SENSOR 4 4.17698527247 -1.82214858142\n",
      "\n",
      "num = \n",
      "1422\n",
      "SENSOR 7 1.71132485001 0.0983006447776\n",
      "\n",
      "num = \n",
      "1423\n",
      "ODOMETRY 0.000689383008851 0.0999423918626 3.49513447236e-05\n",
      "\n",
      "s =  40.06594955890028\n",
      "num = \n",
      "1424\n",
      "SENSOR 8 0.484016165701 2.9408108201\n",
      "\n",
      "num = \n",
      "1425\n",
      "SENSOR 1 3.98604758273 2.20091963284\n",
      "\n",
      "num = \n",
      "1426\n",
      "SENSOR 3 4.69180703169 0.703296950333\n",
      "\n",
      "num = \n",
      "1427\n",
      "SENSOR 4 4.03432426588 -1.9192180266\n",
      "\n",
      "num = \n",
      "1428\n",
      "SENSOR 7 1.70662307955 0.0195730144804\n",
      "\n",
      "num = \n",
      "1429\n",
      "ODOMETRY 0.000371189846191 0.100228636952 -6.17591100635e-05\n",
      "\n",
      "s =  59.45416406026953\n",
      "num = \n",
      "1430\n",
      "SENSOR 8 0.373342787461 3.05756133486\n",
      "\n",
      "num = \n",
      "1431\n",
      "SENSOR 1 3.80212871234 2.24503327543\n",
      "\n",
      "num = \n",
      "1432\n",
      "SENSOR 3 4.73172458484 0.67665686452\n",
      "\n",
      "num = \n",
      "1433\n",
      "SENSOR 4 4.1194352688 -1.87726272441\n",
      "\n",
      "num = \n",
      "1434\n",
      "SENSOR 7 1.48281402876 0.0712741173797\n",
      "\n",
      "num = \n",
      "1435\n",
      "ODOMETRY 0.000618245466302 0.100151291839 -0.000273490204962\n",
      "\n",
      "s =  113.74708065799724\n",
      "num = \n",
      "1436\n",
      "SENSOR 8 0.338081528614 3.00941243853\n",
      "\n",
      "num = \n",
      "1437\n",
      "SENSOR 1 3.86632963985 2.33119255759\n",
      "\n",
      "num = \n",
      "1438\n",
      "SENSOR 3 4.76975391251 0.681775935734\n",
      "\n",
      "num = \n",
      "1439\n",
      "SENSOR 4 4.41680657696 -1.93881980098\n",
      "\n",
      "num = \n",
      "1440\n",
      "SENSOR 7 1.40686137282 0.062021088176\n",
      "\n",
      "num = \n",
      "1441\n",
      "ODOMETRY 0.000733914848916 0.0998145788248 0.000333638766583\n",
      "\n",
      "s =  187.3399950734706\n",
      "num = \n",
      "1442\n",
      "SENSOR 8 0.519130019884 3.01398633257\n",
      "\n",
      "num = \n",
      "1443\n",
      "SENSOR 1 4.092604199 2.27097935826\n",
      "\n",
      "num = \n",
      "1444\n",
      "SENSOR 3 4.66146335586 0.71875130474\n",
      "\n",
      "num = \n",
      "1445\n",
      "SENSOR 4 4.27909552357 -2.04618136993\n",
      "\n",
      "num = \n",
      "1446\n",
      "SENSOR 7 1.3644951038 0.0459100663336\n",
      "\n",
      "num = \n",
      "1447\n",
      "ODOMETRY 0.000374769638158 0.100036391275 -0.000317588610378\n",
      "\n",
      "s =  196.4509494030243\n",
      "num = \n",
      "1448\n",
      "SENSOR 8 0.827056766872 3.03411383029\n",
      "\n",
      "num = \n",
      "1449\n",
      "SENSOR 1 4.18766617032 2.23580707826\n",
      "\n",
      "num = \n",
      "1450\n",
      "SENSOR 3 4.61732503972 0.766211483505\n",
      "\n",
      "num = \n",
      "1451\n",
      "SENSOR 4 4.43223800648 -2.07050951908\n",
      "\n",
      "num = \n",
      "1452\n",
      "SENSOR 7 1.03765736173 0.159708017897\n",
      "\n",
      "num = \n",
      "1453\n",
      "ODOMETRY 0.000258383796783 0.100046475173 -0.000187448045561\n",
      "\n",
      "s =  79.86360537914659\n",
      "num = \n",
      "1454\n",
      "SENSOR 8 1.01841466548 3.11245128248\n",
      "\n",
      "num = \n",
      "1455\n",
      "SENSOR 1 4.21844819546 2.30727717394\n",
      "\n",
      "num = \n",
      "1456\n",
      "SENSOR 3 4.3323136637 0.706356613225\n",
      "\n",
      "num = \n",
      "1457\n",
      "SENSOR 4 4.29925826917 -2.0601421367\n",
      "\n",
      "num = \n",
      "1458\n",
      "SENSOR 7 1.03803647927 -0.00430512051299\n",
      "\n",
      "num = \n",
      "1459\n",
      "ODOMETRY 0.000175057256198 0.100016206243 -0.000574875437212\n",
      "\n",
      "s =  64.87435002891404\n",
      "num = \n",
      "1460\n",
      "SENSOR 8 1.06114766024 3.03958700547\n",
      "\n",
      "num = \n",
      "1461\n",
      "SENSOR 1 4.19308291462 2.37305169986\n",
      "\n",
      "num = \n",
      "1462\n",
      "SENSOR 3 4.43340843678 0.694611397644\n",
      "\n",
      "num = \n",
      "1463\n",
      "SENSOR 4 4.38782200387 -2.07646825755\n",
      "\n",
      "num = \n",
      "1464\n",
      "SENSOR 7 1.06893881671 0.116816994177\n",
      "\n",
      "num = \n",
      "1465\n",
      "ODOMETRY 0.000491173744155 0.10008587263 0.000451347893861\n",
      "\n",
      "s =  183.08236013646476\n",
      "num = \n",
      "1466\n",
      "SENSOR 1 4.3465399853 2.28806126288\n",
      "\n",
      "num = \n",
      "1467\n",
      "SENSOR 3 4.09833809874 0.726784901555\n",
      "\n",
      "num = \n",
      "1468\n",
      "SENSOR 4 4.40765307229 -2.05703339848\n",
      "\n",
      "num = \n",
      "1469\n",
      "SENSOR 7 0.881587336964 0.117015013311\n",
      "\n",
      "num = \n",
      "1470\n",
      "SENSOR 8 0.867257838608 3.05280488795\n",
      "\n",
      "num = \n",
      "1471\n",
      "SENSOR 9 4.94840900988 0.00494688573455\n",
      "\n",
      "num = \n",
      "1472\n",
      "ODOMETRY -0.000630803375501 0.0998285005059 -2.7665388273e-05\n",
      "\n",
      "s =  222.41980188956782\n",
      "num = \n",
      "1473\n",
      "SENSOR 1 4.28954934192 2.33401947973\n",
      "\n",
      "num = \n",
      "1474\n",
      "SENSOR 3 4.21909781406 0.841868593915\n",
      "\n",
      "num = \n",
      "1475\n",
      "SENSOR 4 4.34989823139 -2.1630714784\n",
      "\n",
      "num = \n",
      "1476\n",
      "SENSOR 5 4.93979661166 -1.43241329084\n",
      "\n",
      "num = \n",
      "1477\n",
      "SENSOR 7 1.00602499222 -0.040670077456\n",
      "\n",
      "num = \n",
      "1478\n",
      "SENSOR 8 1.18675294958 3.004888246\n",
      "\n",
      "num = \n",
      "1479\n",
      "SENSOR 9 4.77149906495 0.0784167803443\n",
      "\n",
      "num = \n",
      "1480\n",
      "ODOMETRY 0.000177588275668 0.100041526731 2.03395494299e-05\n",
      "\n",
      "s =  384.0325025690372\n",
      "num = \n",
      "1481\n",
      "SENSOR 1 4.50190602028 2.36927895117\n",
      "\n",
      "num = \n",
      "1482\n",
      "SENSOR 3 4.00101151167 0.822133488219\n",
      "\n",
      "num = \n",
      "1483\n",
      "SENSOR 4 4.61215771686 -2.12862160394\n",
      "\n",
      "num = \n",
      "1484\n",
      "SENSOR 5 4.84715248381 -1.4593957133\n",
      "\n",
      "num = \n",
      "1485\n",
      "SENSOR 7 0.709436083234 0.117971189266\n",
      "\n",
      "num = \n",
      "1486\n",
      "SENSOR 8 1.19024309106 3.05045863386\n",
      "\n",
      "num = \n",
      "1487\n",
      "SENSOR 9 4.81849247234 0.0840660435082\n",
      "\n",
      "num = \n",
      "1488\n",
      "ODOMETRY -0.00019234723744 0.0999661969223 0.000577955783123\n",
      "\n",
      "s =  394.8515168100012\n",
      "num = \n",
      "1489\n",
      "SENSOR 1 4.59154612566 2.44123409548\n",
      "\n",
      "num = \n",
      "1490\n",
      "SENSOR 3 4.09270372353 0.984449055743\n",
      "\n",
      "num = \n",
      "1491\n",
      "SENSOR 4 4.56940774115 -2.11108309143\n",
      "\n",
      "num = \n",
      "1492\n",
      "SENSOR 5 5.01708970382 -1.51328639505\n",
      "\n",
      "num = \n",
      "1493\n",
      "SENSOR 7 0.552235897588 0.0784446480335\n",
      "\n",
      "num = \n",
      "1494\n",
      "SENSOR 8 1.49530808357 3.0624113724\n",
      "\n",
      "num = \n",
      "1495\n",
      "SENSOR 9 4.63213726628 -0.0149057156019\n",
      "\n",
      "num = \n",
      "1496\n",
      "ODOMETRY 0.000460432625711 0.0999157148755 -0.000910662300223\n",
      "\n",
      "s =  206.15656659917155\n",
      "num = \n",
      "1497\n",
      "SENSOR 1 4.48577419944 2.40999777344\n",
      "\n",
      "num = \n",
      "1498\n",
      "SENSOR 3 3.96324395546 0.842587357236\n",
      "\n",
      "num = \n",
      "1499\n",
      "SENSOR 4 4.84921297455 -2.03032326714\n",
      "\n",
      "num = \n",
      "1500\n",
      "SENSOR 5 4.88860777235 -1.50097582453\n",
      "\n",
      "num = \n",
      "1501\n",
      "SENSOR 7 0.588213080216 0.109167111711\n",
      "\n",
      "num = \n",
      "1502\n",
      "SENSOR 8 1.5290828434 2.9941760243\n",
      "\n",
      "num = \n",
      "1503\n",
      "SENSOR 9 4.64413302069 0.012212596853\n",
      "\n",
      "num = \n",
      "1504\n",
      "ODOMETRY -0.000632043960132 0.100015301076 -0.000511368804941\n",
      "\n",
      "s =  560.2120481569857\n",
      "num = \n",
      "1505\n",
      "SENSOR 1 4.65821689345 2.45792546861\n",
      "\n",
      "num = \n",
      "1506\n",
      "SENSOR 3 4.08457768068 0.947534767445\n",
      "\n",
      "num = \n",
      "1507\n",
      "SENSOR 4 4.68074341243 -2.0547331182\n",
      "\n",
      "num = \n",
      "1508\n",
      "SENSOR 5 5.03725288619 -1.5159326314\n",
      "\n",
      "num = \n",
      "1509\n",
      "SENSOR 7 0.491288665507 0.21797802742\n",
      "\n",
      "num = \n",
      "1510\n",
      "SENSOR 8 1.49582908804 3.09625513813\n",
      "\n",
      "num = \n",
      "1511\n",
      "SENSOR 9 4.33921881025 -0.00590236119985\n",
      "\n",
      "num = \n",
      "1512\n",
      "ODOMETRY -0.00030216604025 0.0998494710161 -0.000788688367358\n",
      "\n",
      "s =  598.9106524739574\n",
      "num = \n",
      "1513\n",
      "SENSOR 1 4.82461449155 2.39935149529\n",
      "\n",
      "num = \n",
      "1514\n",
      "SENSOR 3 3.59588226911 0.936386929512\n",
      "\n",
      "num = \n",
      "1515\n",
      "SENSOR 4 4.72357023165 -2.19690127747\n",
      "\n",
      "num = \n",
      "1516\n",
      "SENSOR 5 4.98819755727 -1.41111155842\n",
      "\n",
      "num = \n",
      "1517\n",
      "SENSOR 7 0.25233213443 0.25429317372\n",
      "\n",
      "num = \n",
      "1518\n",
      "SENSOR 8 1.84161583689 3.0711942204\n",
      "\n",
      "num = \n",
      "1519\n",
      "SENSOR 9 4.41280424602 0.04021455269\n",
      "\n",
      "num = \n",
      "1520\n",
      "ODOMETRY -4.40372241114e-05 0.100017342864 -0.000286686615297\n",
      "\n",
      "s =  128.9766977994346\n",
      "num = \n",
      "1521\n",
      "SENSOR 1 4.96806499108 2.46338913003\n",
      "\n",
      "num = \n",
      "1522\n",
      "SENSOR 3 3.77131398662 1.02060797171\n",
      "\n",
      "num = \n",
      "1523\n",
      "SENSOR 4 4.97631293103 -2.18306190358\n",
      "\n",
      "num = \n",
      "1524\n",
      "SENSOR 5 5.14857691815 -1.51205005817\n",
      "\n",
      "num = \n",
      "1525\n",
      "SENSOR 7 0.153079788205 0.302027094071\n",
      "\n",
      "num = \n",
      "1526\n",
      "SENSOR 8 1.78245016777 3.13258766533\n",
      "\n",
      "num = \n",
      "1527\n",
      "SENSOR 9 4.2464309394 -0.0529402471568\n",
      "\n",
      "num = \n",
      "1528\n",
      "ODOMETRY 6.09844486367e-05 0.099932109886 -0.000288637789677\n",
      "\n",
      "s =  218.7217925370935\n",
      "num = \n",
      "1529\n",
      "SENSOR 1 4.89338384844 2.45642677822\n",
      "\n",
      "num = \n",
      "1530\n",
      "SENSOR 3 3.8913033322 1.00389625496\n",
      "\n",
      "num = \n",
      "1531\n",
      "SENSOR 4 4.69061171536 -2.1926166367\n",
      "\n",
      "num = \n",
      "1532\n",
      "SENSOR 5 5.09158734052 -1.68617809973\n",
      "\n",
      "num = \n",
      "1533\n",
      "SENSOR 7 0.148370172637 0.491018538937\n",
      "\n",
      "num = \n",
      "1534\n",
      "SENSOR 8 1.79402872866 3.05372037318\n",
      "\n",
      "num = \n",
      "1535\n",
      "SENSOR 9 4.11470896003 0.0504472179281\n",
      "\n",
      "num = \n",
      "1536\n",
      "ODOMETRY 0.000717467411298 0.0999184617753 0.000633850966142\n",
      "\n",
      "s =  570.2231896034091\n",
      "num = \n",
      "1537\n",
      "SENSOR 3 3.66655129086 0.99534175243\n",
      "\n",
      "num = \n",
      "1538\n",
      "SENSOR 4 4.88757825221 -2.21111435067\n",
      "\n",
      "num = \n",
      "1539\n",
      "SENSOR 5 5.01714051312 -1.58666564734\n",
      "\n",
      "num = \n",
      "1540\n",
      "SENSOR 6 4.93994690121 -0.918673994978\n",
      "\n",
      "num = \n",
      "1541\n",
      "SENSOR 7 0.162381760064 1.08374304001\n",
      "\n",
      "num = \n",
      "1542\n",
      "SENSOR 8 1.94376056708 3.03250925967\n",
      "\n",
      "num = \n",
      "1543\n",
      "SENSOR 9 4.08318042178 -0.0114319793392\n",
      "\n"
     ]
    }
   ],
   "source": [
    "# Начальные распределения\n",
    "m = []\n",
    "P = []\n",
    "m.append([0,0,0])\n",
    "myfile = open('/data files/sensor_data_pf.dat')\n",
    "R = []\n",
    "n = 3\n",
    "k = 0\n",
    "nn = 0 \n",
    "N = 10\n",
    "Y = 0\n",
    "w = [1/N] * N\n",
    "x = np.array([[random.random()]*n for i in range(N)])\n",
    "alpha = [0.1,0.1,0.05,0.05]\n",
    "nums = []\n",
    "for line in myfile:\n",
    "    nn = nn+1\n",
    "    q = line.split()\n",
    "    if q[0] == 'ODOMETRY':\n",
    "        if(len(nums)!= 0):\n",
    "            # нормировка\n",
    "            for i in range(N):\n",
    "                w[i] = math.exp(w[i])\n",
    "            s = sum(w)\n",
    "            print(\"s = \",s)\n",
    "            w /= s\n",
    "            # Вычисление оценки матожидания\n",
    "            m_ = [0.0] * n\n",
    "            for i in range(N):\n",
    "                m_  = m_ + w[i] *x[i]\n",
    "                m_[0] = nrml(m_[0])\n",
    "            m.append(m_)\n",
    "        # Ресемплинг\n",
    "            x = resample(w)\n",
    "            w = [1/N]*N\n",
    "        #Берем дельты из Одометрии\n",
    "        deltar1 = float(q[1])\n",
    "        deltat = float(q[2])\n",
    "        deltar2 = float(q[3])\n",
    "        \n",
    "        # движение частиц\n",
    "        for i in range(N):\n",
    "            x[i] = f(x[i])\n",
    "        w = np.array([0.0] * N)\n",
    "        nums = []\n",
    "        k = 0\n",
    "    else:\n",
    "        k = k+1\n",
    "        num = int(q[1])\n",
    "        nums.append(num)\n",
    "        Y = [float(q[2]),float(q[3])]\n",
    "        for i in range(N):\n",
    "            delta_x = L[num - 1][1] - x[i][1]\n",
    "            delta_y = L[num - 1][2] - x[i][2]\n",
    "            qq = (delta_x * delta_x) + (delta_y * delta_y)\n",
    "            qq = math.sqrt(qq)\n",
    "            phi = math.atan2(delta_y,delta_x)  - x[i][0]\n",
    "            phi = nrml(phi)\n",
    "            val = (phi - Y[1])**2 + (Y[0] - qq)**2\n",
    "            w[i] += math.exp(-val/ ((0.2)**2)/2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 171,
   "id": "efb0323e",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<matplotlib.lines.Line2D at 0x7fee08764370>]"
      ]
     },
     "execution_count": 171,
     "metadata": {},
     "output_type": "execute_result"
    },
    {
     "data": {
      "image/png": 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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "X =[]\n",
    "for i in range(0,len(m)):\n",
    "    X.append(m[i])#np.random.multivariate_normal(m[i],P[i]))\n",
    "x = [a[1] for a in X]\n",
    "y = [a[2] for a in X]\n",
    "fig1 = plt.figure(1)\n",
    "axes1 = fig1.subplots(1, 1)\n",
    "axes1.plot(x, y,label='parametric curve')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "f6cf2766",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.8.10"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 5
}
